重點摘要

學習目標

1.安裝必要軟體

2.建立基礎專案

3.了解比賽需求(規則、硬體、驅動、結構等)

4.第三方驅動下載、安裝

5.使用到的類別(class)有哪些？

6.使用類別建立物件

下面的提醒是從FRC官網節錄，有時連結層數較多，請耐心看完。

軟體安裝

Check1: 軟體安裝是否能順利完成？

Step 2: Installing Software

→ Installing the FRC Game Tools → Download

→ WPILib Installation Guide → Download

建立測試程式

Check2: 測試程式順利建構出來了？

Creating your Benchtop Test Program (C++/Java)

WPILib: Create a robot project

Project Type: Example

Language: Java

Project Base: Getting Started

Base Folder: 自訂專案存放位置

Project Name: 當Create a New Folder打勾時則依此名稱建立資料夾。

Create a New Folder: 打勾則依上一項Project Name建立資料夾。

Team Number: 8169

Enable Desktop Support: 打勾

Opening The New Project (Trust folder、Robot.java)

Defining the variables for our sample robot 定義變數(物件)

public class Robot extends TimedRobot {

private final PWMSparkMax m_leftDrive = new PWMSparkMax(0);

private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);

private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);

private final Joystick m_stick = new Joystick(0);

private final Timer m_timer = new Timer();

Robot Initialization 開機初始化

Simple Autonomous Example 簡易自主模式

Joystick Control for teleoperation 搖桿遙控

Test Mode 測試模式

Deploying the Project to a Robot

Check: 自主、遙控、測試，三種模式切換方式？

Running your Benchtop Test Program

Overview → download a Benchtop Test Program (Creating your Benchtop Test Program)

Tethered Operation (透過Ethernet或USB)

Starting the FRC Driver Station 開啟Driver Station

Setting Up the Driver Station 設定Driver Station

Confirm Connectivity 確認連線

Operate the Robot 操控機器人

Wireless Operation 無線操控

Configuring the Access Point 設定無線基地台

電控元件

Check3: 本次競賽用了哪些元件？

Hardware Component Overview 硬體元件

Overview of Control System

NI roboRIO

CTRE Power Distribution Panel

REV Power Distribution Hub

CTRE Voltage Regulator Module

REV Radio Power Module (小白的電源模組)

OpenMesh OM5P-AN or OM5P-AC Radio (小白)

120A Circuit Breaker (120安培斷路器)

Snap Action Circuit Breakers (速動斷路器)

Robot Battery (機器人電池)

Robot Signal Light

CTRE Pneumatics Control Module

REV Pneumatic Hub (氣動Hub)

Motor Controllers (馬達控制器)

Talon SRX (利爪)

Victor SPX

SPARK MAX Motor Controller

TalonFX Motor Controller

SPARK Motor Controller

Victor SP

Talon Motor Controller

Victor 888 Motor Controller / Victor 884 Motor Controller

Jaguar Motor Controller

DMC-60 and DMC-60C Motor Controller

Venom Motor Controller (猛毒)

Nidec Dynamo BLDC Motor with Controller

SD540B and SD540C Motor Controllers

Spike H-Bridge Relay (H型橋式繼電器)

Servo Power Module (伺服電源模組)

Microsoft Lifecam HD3000

Image Credits

軟體元件

Check4: 專案是否能順利建構出來？

Check5: 會用到的軟體介面操作熟悉了嗎？

Software Component Overview

Operating System Compatibility

LabVIEW FRC (Windows Only)

Visual Studio Code

FRC Driver Station Powered by NI LabVIEW (Windows Only)

Dashboard Options

LabVIEW Dashboard (Windows Only)

SmartDashboard

Shuffleboard

Glass

LiveWindow

FRC roboRIO Imaging Tool (Windows Only)

FRC Radio Configuration Utility (Windows Only)

FRC Driver Station Log Viewer (Windows Only)

RobotBuilder (Command base專案使用：RobotBuilder連結)

Robot Simulation

FRC LabVIEW Robot Simulator (Windows Only)

PathWeaver (連結)

System Identification

OutlineViewer

Programming Basics 基礎程式設計

Check6: 機器人專案建立了嗎？

Check7: 專案需要引用的類別有哪些？

What is WPILib?

Supported languages (Labview, C++, Java)

Source code and documentation (WPILib程式公開於GitHub)

VS Code Overview

→ Visual Studio Code Basics and the WPILib Extension

User Interface

Command Palette

WPILib Extension

→ WPILib Commands in Visual Studio Code

→ Creating a Robot Program

Choosing a Base Class 選定基類

TimedRobot

RobotBase

Command Robot

Romi

Romi - Timed

Romi - Command Bot

Not Using a Base Class 不使用基類

Creating a New WPILib Project

Opening The New Project

C++ Configurations (C++ Only)

→ 3rd Party Libraries

The Mechanism

The Mechanism - Java/C++

The Mechanism - LabVIEW

Managing VS Code Libraries

Adding Offline Libraries

VS Code

Command-line

Checking for Updates (Offline)

Checking for Updates (Online)

Removing a Library Dependency

Libraries

Community Libraries

WPILib Command Libraries

Romi Library

→ Building and Deploying Robot Code 編譯(建立)使用於roboRIO上的程式

→ Viewing Console Output

Opening the Console Viewer

Console Viewer Window

Riolog VS Code Plugin

Opening the RioLog View

Riolog Window

→ Debugging a Robot Program

Running the Debugger

Breakpoints

Setting a Breakpoint

Debugging with Print Statements

Debugging with NetworkTables

→ Importing a Gradle Project

Automatic Import

Launching the Import Wizard

C++ Configurations (C++ Only)

3rd Party Libraries (有更新時要重新Import)

Dashboards

→ Shuffleboard

→ SmartDashboard

→ Glass (不在NI Driver Station上)

→ LabVIEW Dashboard

Telemetry 遙測

FRC LabVIEW Programming

Hardware APIs

→ Motors APIs

→ Pneumatics APIs

→ Sensors

→ → Sensor Overview - Software

→ → Accelerometers - Software

→ → Gyroscopes - Software

→ → Ultrasonics - Software

→ → Counters

→ → Encoders - Software

→ → Analog Inputs - Software

→ → Analog Potentiometers - Software

→ → Digital Inputs - Software

→ → Programming Limit Switches

→

Motor Controllers

FRC Legal Motor Controllers

Pneumatics

FRC Legal Pneumatics controllers

Relays

FRC Legal Relay Modules

→ Miscellaneous Hardware APIs

→ → Addressable LEDs

CAN Devices

→ Using CAN Devices

→ Pneumatics Control Module 氣動控制模組

→ Pneumatic Hub

→ Power Distribution Module

Creating a Power Distribution Object

Reading the Bus Voltage

Reading the Temperature

Reading the Total Current, Power, and Energy

Reading Individual Channel Currents

Using the Switchable Channel (PDH)

→ Third-Party CAN Devices

Cross-the-Road Electronics

CTRE Motor Controllers

Talon FX (with Falcon 500 Motor)

Talon SRX

Victor SPX

CTRE Sensors

CANcoder

Pigeon IMU

CANifier (Java, C++, Hardware User’s Manual, Software Documentation)

REV Robotics

REV Motor Controllers

SPARK MAX (Java, C++, Technical Manual)

Playing With Fusion

PWF Motor Controllers

Venom (Java, C++, Technical Manual)

PWF Sensors

Time of Flight Sensor (Java, C++, Technical Manual)

→ FRC CAN Device Specifications

Addressing

Device Type

Manufacturer

API/Message Identifier

API Class

API Index

Device Number

Protected Frames

Broadcast Messages

Requirements for FRC CAN Nodes

Universal Heartbeat

Basic Programming

→ Git Version Control Introduction 版本控制 (Git website)

Separate testing environments into branches

Ability to navigate to a particular commit without removing history

Ability to manage commits in various ways, including combining them

Various other features, see here

Prerequisites

→ Windows

→ macOS

→ Linux

→ The C++ Units Library

→ Joysticks

Driver Station Joysticks

Joystick Class

XboxController Class

PS4Controller Class

POV (十字角度控制鈕)

GenericHID Usage

Button Usage

→ Setting Robot Preferences

Initializing Preferences

Reading Preferences

Using Preferences in SmartDashboard

Displaying Preferences in SmartDashboard

Editing Preferences in SmartDashboard

Using Preferences in Shuffleboard

Displaying Preferences in Shuffleboard

Editing Preferences in Shuffleboard

→ Using Test Mode

Enabling Test Mode

LiveWindow in Test Mode

Adding Test mode code to your robot code

→ Reading Stacktraces 錯誤發生的例外處置

An unexpected error has occurred.

What’s a “Stack Trace”? (unexpected error has occurred )

What’s an “Unhandled Exception”?

So How Do I Fix My Issue?

Read the Stack Trace

Perform Code Analysis

Run the Single Step Debugger

Search for More Information

Seeking Outside Help

Common Examples & Patterns

Null Pointers and References

Fixing Null Object Issues

Divide by Zero

Fixing Divide By Zero Issues

HAL Resource Already Allocated

Fixing HAL Resource Already Allocated Issues

gradlew is not recognized…

Fixing gradlew is not recognized…

Support Resources