Autonomous Code Resources?

[arael]

Hi, I was wondering if anyone could link me to resources on code for the autonomous code. I also provided all of my code so far incase anyone wanted to provide more indepth help.

I appreciate any help you can provide.

Thanks!

// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
//import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; **Replacement if Victor Fails** 
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;

/**
 * The VM is configured to automatically run this class, and to call the functions corresponding to
 * each mode, as described in the TimedRobot documentation. If you change the name of this class or
 * the package after creating this project, you must also update the build.gradle file in the
 * project.
 */
public class Robot extends TimedRobot {
  //premade
  private Command m_autonomousCommand;
 // private RobotContainer m_robotContainer;

  //Me
  private static final int kFrontLeftChannel = 6;
  private static final int kFrontRightChannel = 7;
  private static final int kRearRightChannel = 8;
  private static final int kRearLeftChannel = 9;

  private static final int kJoystickChannel = 0;

  private MecanumDrive m_robotDrive;
  private Joystick m_stick;

  

  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */

  @Override
  public void robotInit() {
    
    PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
    PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
    PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
    PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);



    m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);

    m_stick = new Joystick(kJoystickChannel);
  }

  /**
   * This function is called every robot packet, no matter the mode. Use this for items like
   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
   *
   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
   * SmartDashboard integrated updating.
   */
  @Override
  public void robotPeriodic() {
    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
    // commands, running already-scheduled commands, removing finished or interrupted commands,
    // and running subsystem periodic() methods.  This must be called from the robot's periodic
    // block in order for anything in the Command-based framework to work.
    CommandScheduler.getInstance().run();
  }

  /** This function is called once each time the robot enters Disabled mode. */
  @Override
  public void disabledInit() {}

  @Override
  public void disabledPeriodic() {}

  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
  @Override
  public void autonomousInit() {
    //m_autonomousCommand = m_robotContainer.getAutonomousCommand();

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
      m_autonomousCommand.schedule();
    }
  }

  /** This function is called periodically during autonomous. */
  @Override
  public void autonomousPeriodic() {}

  @Override
  public void teleopInit() {
    // This makes sure that the autonomous stops running when
    // teleop starts running. If you want the autonomous to
    // continue until interrupted by another command, remove
    // this line or comment it out.
    if (m_autonomousCommand != null) {
      m_autonomousCommand.cancel();
    }
  }

  /** This function is called periodically during operator control. */
  @Override
  public void teleopPeriodic() {
    //Updates Stick Position
     double xAxis = m_stick.getRawAxis(0);
     double yAxis = m_stick.getRawAxis(1);
     double zAxis = m_stick.getRawAxis(4);
            
     // Converts Axis values to speed the drive is set to
    m_robotDrive.driveCartesian(xAxis, yAxis, zAxis, 0.0);}

  @Override
  public void testInit() {
    // Cancels all running commands at the start of test mode.
    CommandScheduler.getInstance().cancelAll();
  }

  /** This function is called periodically during test mode. */
  @Override
  public void testPeriodic() {

  }
}

[garyk]

What happens when you run the code?

[CBryan]

Here is a link to the Autonomous Section of the FRC 0 to Autonomous video!

FRC 0 to Autonomous: #1 Arcade drive + auto-line

I have this saved in a document that gets shared with our students every year, should be quite handy for you!

One thing to note, since they only deal with a drivetrain in this video…
You can add as many system calls and waits as you want in your autonomousPeriodic method (provided you have the time). Just remember that a method will flow from the top and work down! Be mindful of the sequencing in which you tell things to move.