Example java code?

Hey, our Team is having trouble creating working java code. We are able to communicate with the Crio, however we can’t get any of the four cims, which are controlled by jaguars, to work. Does anyone happen to have some basic example java code for consoling a robot with four cims?

Command-Based or Iterative style? CAN or PWM?

The FRC Java starter guide covers the drivetrain code for Iterative starting on page 11


The WPILib programming cookbook covers the Command-Based drivetrain starting on page 14


There’s going to be a few minor differences from both of those documents if you’re using CAN or an arcade drive however.

Most of the other code I’ve come across in teams public repositories is more complex than that in the documents, but if you’d like to look at that as well: