Código Creado con RobotBuilder

El Diseño de un Proyecto Generado de RobotBuilder.

Un proyecto generado por RobotBuilder consta de un paquete (en Java) o una carpeta (en C++) para los comandos y otra para los subsistemas. Cada comando u objeto de subsistema se almacena bajo esos contenedores. En el nivel superior del proyecto se encuentra el programa principal del robot (RobotContainer.java/C++).

Para más información sobre la organización de un robot basado en comandos, consulte Estructuración de un proyecto de robot basado en comandos

Código Autogenerado

JavaC++

// 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);

Cuando la descripción del robot es modificada y el código es re-exportado, RobotBuilder está diseñado para no modificar ningún cambio que haya hecho en el archivo, preservando así tu código. Esto hace de RobotBuilder una herramienta de ciclo de vida completo. Para saber qué código está bien para ser modificado por RobotBuilder, genera secciones que potencialmente tendrán que ser reescritas delimitadas con algunos comentarios especiales. Estos comentarios se muestran en el ejemplo anterior. No añada ningún código dentro de estos bloques de comentarios, se reescribirá la próxima vez que el proyecto se exporte desde RobotBuilder.

Si el código dentro de uno de estos bloques debe ser modificado, los comentarios pueden ser eliminados, pero esto evitará que se produzcan más actualizaciones más adelante. En el ejemplo anterior, si los comentarios //BEGIN y //END fueran removidos, y más tarde se añadió otro subsistema necesario en RobotBuilder, no se generaría en esa próxima exportación.

JavaC++

// 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.

Programa Principal del Robot

JavaC++ (Header)C++ (Source)

// ROBOTBUILDER TYPE: Robot.

package frc.robot;

import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

/**
 * 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.properties file in
 * the project.
 */
public class Robot extends TimedRobot { // (1)

    private Command m_autonomousCommand;

    private RobotContainer m_robotContainer;

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    @Override
    public void robotInit() {
        // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
        // autonomous chooser on the dashboard.
        m_robotContainer = RobotContainer.getInstance();
        HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
    }

    /**
    * 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();  // (2)
    }


    /**
    * 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();  // (3)

        // 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() {
    }

    @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() {
    }

}

Este es el programa principal generado por RobotBuilder. Hay un número de partes en este programa (secciones resaltadas):

1. Esta clase extiende TimedRobot. TimedRobot llamará a los métodos autonomousPeriodic() y teleopPeriodic() cada 20 ms.

2. En el método robotPeriodic que se llama cada 20ms, hacer un pase de horario.

3. El comando autónomo proporcionado está programado al inicio del autónomo en el método autonomousInit() y se cancela al final del periodo autónomo en teleopInit().

RobotContainer

JavaC++ (Header)C++ (Source)

// ROBOTBUILDER TYPE: RobotContainer.

package frc.robot;

import frc.robot.commands.*;
import frc.robot.subsystems.*;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.subsystems.*;

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS


/**
 * This class is where the bulk of the robot should be declared.  Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
 * (including subsystems, commands, and button mappings) should be declared here.
 */
public class RobotContainer {

  private static RobotContainer m_robotContainer = new RobotContainer();

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// The robot's subsystems
    public final Wrist m_wrist = new Wrist(); // (1)
    public final Elevator m_elevator = new Elevator();
    public final Claw m_claw = new Claw();
    public final Drivetrain m_drivetrain = new Drivetrain();

// Joysticks
private final Joystick joystick2 = new Joystick(2); // (3)
private final Joystick joystick1 = new Joystick(1);
private final Joystick logitechController = new Joystick(0);

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS


  // A chooser for autonomous commands
  SendableChooser<Command> m_chooser = new SendableChooser<>();

  /**
  * The container for the robot.  Contains subsystems, OI devices, and commands.
  */
  private RobotContainer() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
    // Smartdashboard Subsystems
    SmartDashboard.putData(m_wrist); // (6)
    SmartDashboard.putData(m_elevator);
    SmartDashboard.putData(m_claw);
    SmartDashboard.putData(m_drivetrain);


    // SmartDashboard Buttons
    SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
    SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
    SmartDashboard.putData("Pickup", new Pickup());
    SmartDashboard.putData("Place", new Place());
    SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
    SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
    SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
    SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
    SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
    SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
    SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
    SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
    // Configure the button bindings
    configureButtonBindings();

    // Configure default commands
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
    m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND

    // Configure autonomous sendable chooser
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
    m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
    m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
    m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

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

  public static RobotContainer getInstance() {
    return m_robotContainer;
  }

  /**
   * Use this method to define your button->command mappings.  Buttons can be created by
   * instantiating a {@link GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
// Create some buttons
final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton l1 = new JoystickButton(logitechController, 11);
l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton r2 = new JoystickButton(logitechController, 10);
r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton l2 = new JoystickButton(logitechController, 9);
l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));

final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));



    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
  }

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
public Joystick getLogitechController() {
        return logitechController;
    }

public Joystick getJoystick1() {
        return joystick1;
    }

public Joystick getJoystick2() {
        return joystick2;
    }


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS

  /**
   * Use this to pass the autonomous command to the main {@link Robot} class.
   *
   * @return the command to run in autonomous
  */
  public Command getAutonomousCommand() {
    // The selected command will be run in autonomous
    return m_chooser.getSelected();
  }


}

Este es el RobotContainer generado por RobotBuilder que es donde se definen los subsistemas y la interfaz del operador. Este programa consta de varias partes (secciones resaltadas):

1. Aquí se declara cada uno de los subsistemas. Se pueden pasar como parámetros a cualquier comando que los requiera.

2. Si hay un comando autónomo proporcionado en las propiedades del robot de RobotBuilder, se añade al selector de envíos para ser seleccionado en el dashboard

3. Aquí se genera el código de todos los componentes de la interfaz del operador.

4. Además el código para enlazar los botones OI con los comandos que deben ejecutarse también se genera aquí.

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

6. Aquí se definen los comandos que se ejecutan a través de un dashboard.