Proyectos ejemplo de WPILib

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Mientras todos los intentos son hechos para mantener los ejemplos de WPILib funcionando, no están con la intención de ser la única manera de hacerlo. Al final, las constantes de robot específicos necesitarán cambiarse por el código para funcionar en un robot de usuario. Muchas constantes empíricas tienen valores «falsificados» para propósitos demostrativos. Los usuarios alientan fuertemente en escribir sus propios códigos (desde cero o desde una plantilla existente) en vez de copiar el código de ejemplo.

Los proyectos de ejemplo de WPILib demuestran un gran número de características en librerías y uso de patrones. El rango de proyectos es para simples demostraciones de una sola función a completar, programas para robots de competencias. Todos estos ejemplos están disponibles en VS Code entrando a Ctrl+Shift+P, después seleccionar WPILib: Create a new project y elegir un ejemplo.

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Ejemplos básicos

Éstos ejemplos demuestran funciones básicas/mínimas para el robot. Son útiles para equipos que van empezando que van adquiriendo familiaridad con la programación de un robot, pero son realmente limitadas en su funcionalidad.

  • Arcade Drive (Java, C++, Python): Demonstrates a simple differential drive implementation using «arcade»-style controls through the DifferentialDrive class.

  • Getting Started (Java, C++, Python): Demonstrates a simple autonomous routine that drives forwards for two seconds at half speed.

  • Mecanum Drive (Java, C++, Python): Demonstrates a simple mecanum drive implementation using the MecanumDrive class.

  • TankDrive (Java, C++, Python): Demonstrates a simple differential drive implementation using «tank»-style controls through the DifferentialDrive class.

Ejemplos de control

Estos ejemplos demuestran las implementaciones de WPILib de controles de robot comunes. Los sensores pueden estar presentes, pero no son el concepto enfatizado de estos ejemplos.

  • DifferentialDriveBot (Java, C++, Python): Demonstrates an advanced differential drive implementation, including encoder-and-gyro odometry through the DifferentialDriveOdometry class, and composition with PID velocity control through the DifferentialDriveKinematics and PIDController classes.

  • DifferentialDrivePoseEstimator (Java, C++): Demonstrates an advanced differential drive implementation with all the features of DifferentialDriveBot. In addition this example uses DifferentialDrivePoseEstimator to track the robots position on the field. It demonstrates these features by using WPILib Simulation.

  • Elevator with Profiled PID Controller (Java, C++, Python): Demonstrates the use of the ProfiledPIDController class to control the position of an elevator mechanism.

  • Elevator with Trapezoid Profiled PID (Java, C++, Python): Demonstrates the use of the TrapezoidProfile class in conjunction with a «smart motor controller» to control the position of an elevator mechanism.

  • Elevator with Exponential Profiled PID (Java, C++): Demonstrates the use of the ExponentialProfile class in conjunction with a «smart motor controller» to control the position of an elevator mechanism.

  • MecanumBot (Java, C++, Python): Demonstrates an advanced mecanum drive implementation, including encoder-and-gyro odometry through the MecanumDriveOdometry class, and composition with PID velocity control through the MecanumDriveKinematics and PIDController classes.

  • Mecanum Drive PoseEstimator (Java, C++): Demonstrates an advanced mecanum drive implementation with all the features of MecanumBot. In addition this example uses MecanumDrivePoseEstimator to track the robots position on the field.

  • SwerveBot (Java, C++, Python): Demonstrates an advanced swerve drive implementation, including encoder-and-gyro odometry through the SwerveDriveOdometry class, and composition with PID position and velocity control through the SwerveDriveKinematics and PIDController classes.

  • Swerve Drive PoseEstimator (Java, C++): Demonstrates an advanced swerve drive implementation with all the features of SwerveBot. In addition this example uses SwerveDrivePoseEstimator to track the robots position on the field.

Ejemplos de sensores

Estos ejemplos demuestran la lectura de sensores y el procesamiento de datos usando WPILib. El control de mecanismos puede estar presente, pero no es el concepto enfatizado de estos ejemplos.

  • Duty Cycle Encoder (Java, C++, Python): Demonstrates the use of the DutyCycleEncoder class to read values from a PWM-type absolute encoder.

  • Encoder (Java, C++, Python): Demonstrates the use of the Encoder class to read values from a quadrature encoder.

  • Gyro (Java, C++, Python): Demonstrates the use of the AnalogGyro class to measure robot heading and stabilize driving.

  • SysIdRoutine (Java, C++, Python): Demonstrates the use of the SysIdRoutine API to gather characterization data for a differential drivetrain.

Commands v2 Examples

These examples demonstrate the use of the Commands v2 framework.

  • DriveDistanceOffboard (Java, C++, Python): Demonstrates the use of a TrapezoidProfileCommand in conjunction with a «smart motor controller» to drive forward by a set distance with a trapezoidal motion profile.

  • Rapid React Command Bot (Java, C++): This project uses the latest command based best practices and the Epilogue logging system. It is capable of playing the FRC 2022 game Rapid React.

  • Inlined Hatchbot (Java, C++, Python): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game Destination: Deep Space. Commands are written in an «inline» style, in which explicit subclassing of Command is avoided.

  • Traditional Hatchbot (Java, C++, Python): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game Destination: Deep Space. Commands are written in a «traditional» style, in which subclasses of Command are written for each robot action.

Commands v3 Examples

These examples demonstrate the use of the Commands v3 framework.

HatchbotCmdv3 (Java): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game Destination: Deep Space. This example is a direct port of the v2 Inlined Hatchbot example to v3. RebuiltCmdv3 (Java): A complete set of robot code for a swerve drive robot playing the 2026 FRC game Rebuilt. This example demonstrates how to structure a complex project and best practices for using Commands v3.

Ejemplos de Espacio de Estado

Estos ejemplos demuestran el uso del State-Space Control.

  • StateSpaceFlywheel (Java, C++, Python): Demonstrates state-space control of a flywheel.

  • StateSpaceFlywheelSysId (Java, C++, Python): Demonstrates state-space control using SysId’s System Identification for controlling a flywheel.

  • StateSpaceElevator (Java, C++, Python): Demonstrates state-space control of an elevator.

  • StateSpaceArm (Java, C++, Python): Demonstrates state-space control of an Arm.

Ejemplos de Simulación Física

Estos ejemplos demuestran el uso de la simulación física.

  • ElevatorSimulation (Java, C++, Python): Demonstrates the use of physics simulation with a simple elevator.

  • ElevatorSimulation with Exponential PID (Java, C++): Demonstrates the use of physics simulation of an elevator being controlled with exponential profiled PID.

  • ArmSimulation (Java, C++, Python): Demonstrates the use of physics simulation with a simple single-jointed arm.

  • SimpleDifferentialDriveSimulation (Java, C++): A barebones example of a basic drivetrain that can be used in simulation.

Ejemplos varios

Estos ejemplos demuestran diversas funciones de WPILib que no encajan en ninguna de las categorías anteriores.

  • HAL (C++): Demonstrates the use of HAL (Hardware Abstraction Layer) without the use of the rest of WPILib. This example is for advanced users (C++ only).

  • RomiReference (Java, C++, Python): A command based example of how to run the Romi robot.

  • XRPReference (Java, C++): A command based example of how to run the XRP robot.

  • Mechanism2d (Java, C++, Python): A simple example of using Mechanism2d.

  • UnitTest (Java, C++): Shows how to do Unit Testing. The test files need to be in a separate Test directory (Java, C++).

Snippets

These examples demonstrate a single item.

  • Addressable LED (Java, C++, Python): Demonstrates the use of the AddressableLED class to control RGB LEDs for robot decoration and/or driver feedback.

  • AprilTagsVision (Java, C++, Python): Demonstrates on-roboRIO detection of AprilTags using an attached USB camera.

  • Digital Communication (Java, C++, Python): This is a sample program demonstrating how to communicate to a light controller from the robot code using the roboRIO’s DIO ports.

  • DutyCycleInput (Java, C++, Python): Demonstrates the use of the DutyCycleInput class to read the frequency and fractional duty cycle of a PWM input.

  • EventLoop (Java, C++): Demonstrates the use of the EventLoop class that allows code to be called based on a boolean condition in the event-driven programming style.

  • Flywheel Bang-Bang Controller (Java, C++, [Python](https://github.com/robotpy/mostrobotpy/tree/main/snippets/robot/FlywheelBangBangController )): Uses the BangBangController class to simply yet effectively control a flywheel.

  • HTTP Camera (Java, C++): Demonstrates the use of OpenCV and a HTTP Camera to overlay a rectangle on a captured video feed and stream it to the dashboard.

  • I2C Communication (Java, C++, Python): This is a sample program demonstrating how to communicate to a light controller from the robot code using the roboRIO’s I2C port.

  • Intermediate Vision (Java, C++, Python): Demonstrates the use of OpenCV and a USB camera to overlay a rectangle on a captured video feed and stream it to the dashboard.

  • Motor Controller (Java, C++, Python): Demonstrates how to control the output of a motor with a joystick with an encoder to read motor position.

  • Power Distribution CAN Monitoring (Java, C++, Python): Demonstrates obtaining sensor information from a Power Distribution module over CAN using the PowerDistribution class.

  • Select Command Example (Java, C++, Python): Demonstrates the use of the SelectCommand class to run one of a selection of commands depending on a runtime-evaluated condition.

  • Simple Vision (Java, C++, Python): Demonstrates how to stream video from a USB camera to the dashboard.

  • Solenoids (Java, C++, Python): Demonstrates the use of the Solenoid and DoubleSolenoid classes to control solenoid outputs with a set of joystick buttons.