FRC 5712 · Coding Workshop00 / 30 finished
WPILib 2027 is still in alpha: these pages change as the APIs settle.
Gray Matter Coding Workshop
FRC 5712 · Hemlock, Michigan
FRC Team 5712
Coding Workshops
30 lessons on programming an FRC robot, from spinning a motor in Tuner X to a swerve drive that finds itself with a camera. Every lesson runs on real hardware.
What you’ll program
Four mechanisms. Five workshops.
01Hardware & CTREBench mechanisms tuned in Tuner X before robot code begins.
Position control
Robot Arm
Hold an exact angle while gravity pulls against you.
Velocity control
Shooter Flywheel
Keep one speed under load, shot after shot.
03–04Swerve & VisionThe whole robot: calibrated motion, field pose, and perception.
Holonomic drive
CTR Swerve
Eight motors, four encoders, one heading you trust.
Perception
AprilTag Vision
Let the camera correct what the wheels got wrong.
The syllabus
Read it in order. Each lesson leaves the code in a state the next one starts from.
00
Getting Started
What the workshop is, what you need installed, and the CAD for the mechanisms.
01
Hardware & CTRE
Set up, identify, test, and tune a motor entirely in Phoenix Tuner X.
02
Code Foundations
The Java and the Commands v3 vocabulary a robot program is built out of, before you write any of it.
03
Robot Programming
Make the project, write the mechanism and its commands, bind them to a controller, and drive it closed loop on real hardware.
04
Swerve & Autonomous
Generate and calibrate a swerve drive, plan a path, combine commands, and run an autonomous OpMode.
05
Vision & Navigation
Add vision, drive to field poses, profile the motion, and plan around obstacles.
06
Advanced Commands
Record what the robot did, then write commands that wait, yield, and remember, using coroutines and state machines.
30 lessons · six workshops · one code repository
Powered by
