Overview

This page summarizes the overall steps required to program a robot.

Design Phase

• Strategy - What is the team strategy for autonomous mode?
• Subsystems
  • What subsystems will you have on your robot?
  • What does each subsystem need to do?
  • What sensors should be used, if any?
  • How many actuators does each subsystem need?
• Controllers
  • How many controllers is needed to control this robot?
  • What commands should be mapped to which buttons?

Programming Phase

• Create Subsystem Classes
• Create objects
• Create methods to execute tasks control
• Create commands that utilize methods
• Autonomous routines need to be created

Testing

• Test code & fix bugs
• Look for new ways to do things smarter and more efficiently
• Golden Rule: Your code doesnt work until you've tested it on the robot

Example

Lets say the team decides to build a robot that uses a gripper to squeeze a ball, then uses an elevator to raise the ball.

Design Phase

Programming Phase

Need to create the following subsystems with the following objects

• Subsystems
  • Drivetrain
    • motor controller
    • encoder
    • gyro
  • Elevator
    • motor controller
    • encoder
  • Gripper
    • solenoid
    • compressor

After, the following commands need to be created for the corresponding subsystem

• Commands
  • Drivetrain
    • Autonomous Drive Straight
  • Elevator
    • Raise Elevator
    • Lower Elevator
    • Stop Elevator
  • Gripper
    • Squeeze Ball
    • Drop Ball

Now that the robot structure is outlined, we can begin to code.
Refer to the Basic Robot Programming page