RobotBuilder Created Code

The Layout of a RobotBuilder Generated Project

../../../../../_images/robotbuilder-created-code-java.png ../../../../../_images/robotbuilder-created-code-cpp.png

A RobotBuilder generated project consists of a package (in Java) or a folder (in C++) for Commands and another for Subsystems. Each command or subsystem object is stored under those containers. At the top level of the project you’ll find the robot main program (RobotContainer.java/C++).

For more information on the organization of a Command Based robot, see Structuring a Command-Based Robot Project

Autogenerated Code

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
m_chooser.setDefaultOption("Autonomous", new Autonomous());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

SmartDashboard.putData("Auto Mode", m_chooser);

When the robot description is modified and code is re-exported RobotBuilder is designed to not modify any changes you made to the file, thus preserving your code. This makes RobotBuilder a full-lifecycle tool. To know what code is OK to be modified by RobotBuilder, it generates sections that will potentially have to be rewritten delimited with some special comments. These comments are shown in the example above. Don’t add any code within these comment blocks, it will be rewritten next time the project is exported from RobotBuilder.

If code inside one of these blocks must be modified, the comments can be removed, but this will prevent further updates from happening later. In the above example, if the //BEGIN and //END comments were removed, then later another required subsystem was added in RobotBuilder, it would not be generated on that next export.

// ROBOTBUILDER TYPE: Robot.

Additionally, each file has a comment defining the type of file. If this is modified or deleted, RobotBuilder will completely regenerate the file deleting any code added both inside and outside the AUTOGENERATED CODE blocks.

Main Robot Program

 11// ROBOTBUILDER TYPE: Robot.
 12
 13package frc.robot;
 14
 15import edu.wpi.first.hal.FRCNetComm.tInstances;
 16import edu.wpi.first.hal.FRCNetComm.tResourceType;
 17import edu.wpi.first.hal.HAL;
 18import edu.wpi.first.wpilibj.TimedRobot;
 19import edu.wpi.first.wpilibj2.command.Command;
 20import edu.wpi.first.wpilibj2.command.CommandScheduler;
 21
 22/**
 23 * The VM is configured to automatically run this class, and to call the
 24 * functions corresponding to each mode, as described in the TimedRobot
 25 * documentation. If you change the name of this class or the package after
 26 * creating this project, you must also update the build.properties file in
 27 * the project.
 28 */
 29public class Robot extends TimedRobot { // (1)
 30
 31    private Command m_autonomousCommand;
 32
 33    private RobotContainer m_robotContainer;
 34
 35    /**
 36     * This function is run when the robot is first started up and should be
 37     * used for any initialization code.
 38     */
 39    @Override
 40    public void robotInit() {
 41        // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
 42        // autonomous chooser on the dashboard.
 43        m_robotContainer = RobotContainer.getInstance();
 44        HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
 45    }
 46
 47    /**
 48    * This function is called every robot packet, no matter the mode. Use this for items like
 49    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
 50    *
 51    * <p>This runs after the mode specific periodic functions, but before
 52    * LiveWindow and SmartDashboard integrated updating.
 53    */
 54    @Override
 55    public void robotPeriodic() {
 56        // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
 57        // commands, running already-scheduled commands, removing finished or interrupted commands,
 58        // and running subsystem periodic() methods.  This must be called from the robot's periodic
 59        // block in order for anything in the Command-based framework to work.
 60        CommandScheduler.getInstance().run();  // (2)
 61    }
 62
 63
 64    /**
 65    * This function is called once each time the robot enters Disabled mode.
 66    */
 67    @Override
 68    public void disabledInit() {
 69    }
 70
 71    @Override
 72    public void disabledPeriodic() {
 73    }
 74
 75    /**
 76    * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
 77    */
 78    @Override
 79    public void autonomousInit() {
 80        m_autonomousCommand = m_robotContainer.getAutonomousCommand();  // (3)
 81
 82        // schedule the autonomous command (example)
 83        if (m_autonomousCommand != null) {
 84            m_autonomousCommand.schedule();
 85        }
 86    }
 87
 88    /**
 89    * This function is called periodically during autonomous.
 90    */
 91    @Override
 92    public void autonomousPeriodic() {
 93    }
 94
 95    @Override
 96    public void teleopInit() {
 97        // This makes sure that the autonomous stops running when
 98        // teleop starts running. If you want the autonomous to
 99        // continue until interrupted by another command, remove
100        // this line or comment it out.
101        if (m_autonomousCommand != null) {
102            m_autonomousCommand.cancel();
103        }
104    }
105
106    /**
107     * This function is called periodically during operator control.
108     */
109    @Override
110    public void teleopPeriodic() {
111    }
112
113    @Override
114    public void testInit() {
115        // Cancels all running commands at the start of test mode.
116        CommandScheduler.getInstance().cancelAll();
117    }
118
119    /**
120    * This function is called periodically during test mode.
121    */
122    @Override
123    public void testPeriodic() {
124    }
125
126}

This is the main program generated by RobotBuilder. There are a number of parts to this program (highlighted sections):

  1. This class extends TimedRobot. TimedRobot will call your autonomousPeriodic() and teleopPeriodic() methods every 20ms.

  2. In the robotPeriodic method which is called every 20ms, make one scheduling pass.

  3. The autonomous command provided is scheduled at the start of autonomous in the autonomousInit() method and canceled at the end of the autonomous period in teleopInit().

RobotContainer

 11// ROBOTBUILDER TYPE: RobotContainer.
 12
 13package frc.robot;
 14
 15import frc.robot.commands.*;
 16import frc.robot.subsystems.*;
 17import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 18import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 19import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 20
 21// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 22import edu.wpi.first.wpilibj2.command.Command;
 23import edu.wpi.first.wpilibj2.command.InstantCommand;
 24import edu.wpi.first.wpilibj.Joystick;
 25import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 26import frc.robot.subsystems.*;
 27
 28    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 29
 30
 31/**
 32 * This class is where the bulk of the robot should be declared.  Since Command-based is a
 33 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 34 * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
 35 * (including subsystems, commands, and button mappings) should be declared here.
 36 */
 37public class RobotContainer {
 38
 39  private static RobotContainer m_robotContainer = new RobotContainer();
 40
 41    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 42// The robot's subsystems
 43    public final Wrist m_wrist = new Wrist(); // (1)
 44    public final Elevator m_elevator = new Elevator();
 45    public final Claw m_claw = new Claw();
 46    public final Drivetrain m_drivetrain = new Drivetrain();
 47
 48// Joysticks
 49private final Joystick joystick2 = new Joystick(2); // (3)
 50private final Joystick joystick1 = new Joystick(1);
 51private final Joystick logitechController = new Joystick(0);
 52
 53    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 54
 55
 56  // A chooser for autonomous commands
 57  SendableChooser<Command> m_chooser = new SendableChooser<>();
 58
 59  /**
 60  * The container for the robot.  Contains subsystems, OI devices, and commands.
 61  */
 62  private RobotContainer() {
 63        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 64    // Smartdashboard Subsystems
 65    SmartDashboard.putData(m_wrist); // (6)
 66    SmartDashboard.putData(m_elevator);
 67    SmartDashboard.putData(m_claw);
 68    SmartDashboard.putData(m_drivetrain);
 69
 70
 71    // SmartDashboard Buttons
 72    SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
 73    SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
 74    SmartDashboard.putData("Pickup", new Pickup());
 75    SmartDashboard.putData("Place", new Place());
 76    SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
 77    SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
 78    SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
 79    SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
 80    SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
 81    SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
 82    SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
 83    SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));
 84
 85    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 86    // Configure the button bindings
 87    configureButtonBindings();
 88
 89    // Configure default commands
 90        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
 91    m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)
 92
 93
 94    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
 95
 96    // Configure autonomous sendable chooser
 97        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 98
 99    m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
100    m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
101    m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
102    m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)
103
104    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
105
106    SmartDashboard.putData("Auto Mode", m_chooser);
107  }
108
109  public static RobotContainer getInstance() {
110    return m_robotContainer;
111  }
112
113  /**
114   * Use this method to define your button->command mappings.  Buttons can be created by
115   * instantiating a {@link GenericHID} or one of its subclasses ({@link
116   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
117   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
118   */
119  private void configureButtonBindings() {
120        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
121// Create some buttons
122final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
123r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
124
125final JoystickButton l1 = new JoystickButton(logitechController, 11);
126l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
127
128final JoystickButton r2 = new JoystickButton(logitechController, 10);
129r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
130
131final JoystickButton l2 = new JoystickButton(logitechController, 9);
132l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
133
134final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
135dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
136
137final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
138dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
139
140final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
141dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
142
143final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
144dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
145
146
147
148    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
149  }
150
151    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
152public Joystick getLogitechController() {
153        return logitechController;
154    }
155
156public Joystick getJoystick1() {
157        return joystick1;
158    }
159
160public Joystick getJoystick2() {
161        return joystick2;
162    }
163
164
165    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
166
167  /**
168   * Use this to pass the autonomous command to the main {@link Robot} class.
169   *
170   * @return the command to run in autonomous
171  */
172  public Command getAutonomousCommand() {
173    // The selected command will be run in autonomous
174    return m_chooser.getSelected();
175  }
176
177
178}

This is the RobotContainer generated by RobotBuilder which is where the subsystems and operator interface are defined. There are a number of parts to this program (highlighted sections):

  1. Each of the subsystems is declared here. They can be passed as parameters to any commands that require them.

  2. If there is an autonomous command provided in RobotBuilder robot properties, it is added to the Sendable Chooser to be selected on the dashboard.

  3. The code for all the operator interface components is generated here.

  4. In addition the code to link the OI buttons to commands that should run is also generated here.

  5. Commands to be run on a subystem when no other commands are running are defined here.

  6. Commands to be run via a dashboard are defined here.