Commands represent robot behaviors such as moving an elevator to a position, collecting balls, shooting, or other tasks. It is desirable to test commands on the robot as they are written before combining them into more complex commands or incorporating them into other parts of the robot program. With a single line of code you can display commands on the SmartDashboard that appear as buttons that run the commands when pressed. This makes robot debugging a much simpler process than before.

PIDSubsystems use feedback to control the actuator and drive it to a particular position. In this example we use an elevator with a 10-turn potentiometer connected to it to give feedback on the height. The skeleton of the PIDSubsystem is generated by the RobotBuilder and we have to fill in the rest of the code to provide the potentiometer value and drive the motor with the output of the imbedded PIDController.

Netbeans needs to be configured to be able to download and run programs on your robot. Once configured, it can be used to run any program with the same team number.

Once all the subsystems are defined and filled with sensors and actuators you can produce a wiring diagram that will help the team wiring the robot to make sure that the electrical connections between the components and the cRIO robot controller are correct.