Programming

Resources

• Learn Java for FTC - Free book on how to do robot programming
• FTC SIM
• Tech Toolbox - Lots of guidance on programming FTC robots.
• Seattle Solvers Interview - Shows advanced robot with swerve and turret. Also goes over some of their code. Code is here: https://github.com/FTC-23511/Decode-2026
• Simplified FTC Odometry. Part 1: Overview

Exercises

• Get Tank drive working
• Implement the following tank drive control schemes
  • Dual joystick - each joystick controls a motor
  • Single joystick - controls speed and rotation
  • Triggers for turning - Use joystick for speed and triggers for turning
  • Triggers for gas / break - Right trigger to go forward, left trigger to go back. Joystick for turning
  • Buttons for speed - Tap A to increase speed, B to decrease. X to set speed to 0. Joystick or triggers for turning according to preference.
  • Field relative tank control - Move in the direction the joystick is tilted. This will require first rotating to that direction and then moving forward.
• Add support for switching between control schemes on the fly. Use the left and right bumpers to cycle between them, and show the currently selected scheme via telemetry.
• Auto programming
  • Drive forward, wait, drive back. Use time to determine length of each step.
  • Use IMU (gyro) to add support for turning a specified number of degrees
  • Drive in a square
  • Add support for driving a specified distance using wheel rotation sensors and diameter of tires
  • Update straight driving code to use IMU to keep driving in the same direction
  • Research algorithms (such as PID) to improve accuracy of driving logic, and try implementing those algorithms