Gray Matter Coding Workshop
Quick Note
All underlined text and images of code or products will have built-in links to resources.
Before You Begin
This workshop requires specific software and hardware. Review prerequisites before you start.
Why Are We Here?
Learn FRC's Best Programming Practices
Learn the coding patterns, command-based architecture, and development workflows that successful FRC teams use.
Build Competition-Winning Robots
Develop reliable, maintainable code that performs under pressure and helps your team succeed at districts, regionals and FIRST Championship.
Target Audience & Goals
Who This Workshop Is For
This workshop is for FRC teams using Java and CTRE hardware.
What You'll Learn
- • Code architecture and best practices
- • Subsystems structure and organization
- • Command-based programming framework
- • PID tuning techniques
- • Libraries and framework usage
- • Hardware integration with CTRE devices
- • Motion profiling and control
- • Real-world competition implementation
Our Mission
Team 5712, Hemlocks Gray Matter, built this site with support from its friends. It covers introductory through advanced topics with a clear plan for learning and implementing each one.
Choose Your Workshop
1
Workshop #1
Fundamentals of FRC programming with command-based framework, subsystems, and PID control.
Hardware Setup→
Project Setup→
Command System→
Mechanisms→
Commands→
Triggers→
Run Program→
Mechanism→
PID Control→
Motion Magic→
2
Workshop #2
Advanced topics including swerve drive, vision systems, path planning, and data logging.
Swerve Prereqs→
Swerve Project→
Autonomous: Driving to a Pose→
Odom Calib→
Log Options→
Logging Setup→
Drive to Point→
Vision Options→
Vision Setup→
Odom Shot→