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https://github.com/wpilibsuite/allwpilib
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ffd371cbf8
The `command3` example project contains a program that could plausibly play in the 2026 rebuilt game. It includes nested mechanisms (`Intake` has an inner `IntakeWrist` and `IntakeRoller` and is similar to the v2 superstructure concept), swerve drive with localization and path following (albeit stubbed for sake of example), opmodes and opmode-scoped commands, and command-scoped triggers. The template projects are basic skeletons. The larger template includes a basic command that just increments and prints a counter variable every time it runs. The hatchbot v3 example has been refactored to be more idiomatic: - `RobotContainer` removed - "Subsystem" names in packages, comments, and classes has been replaced with "Mechanism" - Some v2-specific comments and structures have been reworded or deleted - The Drive mechanism now provides commands for arcade drive and driving a distance, instead of exposing public methods that write directly to hardware (which broke encapsulation and made it possible to issue conflicting hardware requests)
608 lines
15 KiB
JSON
608 lines
15 KiB
JSON
[
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{
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"name": "Getting Started",
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"description": "A differential-drive robot with split-stick Xbox arcade drive with a simple time-based autonomous.",
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"tags": [
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"Basic Robot"
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],
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"foldername": "gettingstarted",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Commands v3 - REBUILT Robot",
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"description": "A robot with a drivetrain, intake, and shooter subsystems controlled by the commands v3 framework",
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"tags": [
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"Complete Robot",
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"Commandv3",
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"DataLog",
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"Joystick",
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"Swerve Drive",
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"OpMode"
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],
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"foldername": "rebuiltcmdv3",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 3
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},
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{
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"name": "Encoder",
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"description": "View values from a quadrature encoder.",
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"tags": [
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"Hardware",
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"Encoder",
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"SmartDashboard"
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],
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"foldername": "encoder",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Expansion Hub Sample",
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"description": "Sample the functionality of the Expansion Hub motors.",
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"tags": [
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"Hardware",
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"ExpansionHub",
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"FTC",
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"OpModes",
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"SmartDashboard"
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],
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"foldername": "expansionhubsample",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Elevator with trapezoid profiled PID",
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"description": "Reach elevator position setpoints with trapezoid profiles and smart motor controller PID.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"Trapezoid Profile",
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"Smart Motor Controller",
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"Joystick"
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],
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"foldername": "elevatortrapezoidprofile",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Elevator with exponential profile",
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"description": "Reach elevator position setpoints with exponential profiles and smart motor controller PID.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"Exponential Profile",
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"Smart Motor Controller",
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"Joystick"
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],
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"foldername": "elevatorexponentialprofile",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Elevator with profiled PID controller",
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"description": "Reach elevator position setpoints with an encoder and profiled PID control.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"Profiled PID",
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"Joystick"
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],
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"foldername": "elevatorprofiledpid",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Gyro",
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"description": "Drive a differential drive straight with a gyro sensor.",
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"tags": [
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"Basic Robot",
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"Differential Drive",
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"PID",
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"Gyro",
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"Joystick"
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],
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"foldername": "gyro",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Mecanum Drive",
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"description": "Drive a mecanum drivetrain using field-oriented controls with a joystick.",
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"tags": [
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"Basic Robot",
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"Mecanum Drive",
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"Gyro",
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"Joystick"
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],
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"foldername": "mecanumdrive",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Mechanism2d",
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"description": "Display mechanism states on a dashboard with Mechanism2d.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"Arm",
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"Analog",
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"Joystick",
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"SmartDashboard",
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"Mechanism2d"
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],
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"foldername": "mechanism2d",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "'Traditional' Hatchbot",
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"description": "A fully-functional Commandv2 hatchbot for the 2019 game, written in the 'traditional' style, i.e. commands are given their own classes.",
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"tags": [
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"Complete Robot",
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"Commandv2",
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"Differential Drive",
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"Encoder",
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"Pneumatics",
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"Sendable",
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"DataLog",
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"Gamepad"
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],
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"foldername": "hatchbottraditional",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "'Inlined' Hatchbot",
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"description": "A fully-functional Commandv2 hatchbot for the 2019 game, written in the 'inlined' style, i.e. many commands are defined inline with lambdas.",
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"tags": [
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"Complete Robot",
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"Commandv2",
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"Differential Drive",
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"Encoder",
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"Pneumatics",
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"Sendable",
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"DataLog",
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"Gamepad"
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],
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"foldername": "hatchbotinlined",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Hatchbot Commandsv3",
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"description": "A fully-functional Commandv3 hatchbot for the 2019 game, written in the 'inlined' style, i.e. many commands are defined inline with lambdas.",
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"tags": [
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"Complete Robot",
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"Commandv3",
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"Differential Drive",
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"Encoder",
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"Pneumatics",
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"Sendable",
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"DataLog",
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"Gamepad"
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],
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"foldername": "hatchbotcmdv3",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 3
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},
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{
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"name": "Rapid React Command Bot",
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"description": "A fully-functional Commandv2 fender bot for the 2022 game, written in the 'inlined' style, i.e. many commands are defined inline with lambdas.",
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"tags": [
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"Complete Robot",
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"Commandv2",
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"Differential Drive",
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"Intake",
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"Flywheel",
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"Encoder",
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"Pneumatics",
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"Digital Input",
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"PID",
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"Gyro",
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"Profiled PID",
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"Gamepad"
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],
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"foldername": "rapidreactcommandbot",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "SwerveBot",
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"description": "Use kinematics and odometry with a swerve drive.",
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"tags": [
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"Swerve Drive",
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"Odometry",
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"Gamepad",
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"Gyro",
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"Encoder"
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],
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"foldername": "swervebot",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "MecanumBot",
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"description": "Use kinematics and odometry with a mecanum drive.",
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"tags": [
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"Mecanum Drive",
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"Odometry",
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"Encoder",
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"Gyro",
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"Gamepad"
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],
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"foldername": "mecanumbot",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "DifferentialDriveBot",
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"description": "Use kinematics and odometry with a differential drive.",
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"tags": [
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"Differential Drive",
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"Odometry",
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"Encoder",
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"Gyro",
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"Gamepad"
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],
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"foldername": "differentialdrivebot",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Arcade Drive Xbox Controller",
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"description": "Control a differential drive with split-stick arcade drive in teleop.",
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"tags": [
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"Basic Robot",
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"Differential Drive",
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"Gamepad"
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],
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"foldername": "arcadedrivegamepad",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Tank Drive Gamepad",
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"description": "Control a differential drive with Xbox tank drive in teleop.",
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"tags": [
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"Basic Robot",
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"Differential Drive",
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"Gamepad"
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],
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"foldername": "tankdrivegamepad",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Duty Cycle Encoder",
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"description": "View values from a duty-cycle encoder.",
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"tags": [
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"Hardware",
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"Duty Cycle",
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"Encoder",
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"SmartDashboard"
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],
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"foldername": "dutycycleencoder",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Driver Station Display Lines",
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"description": "Display lines on the Driver Station display and update them every robot loop.",
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"tags": [
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"Basic Robot",
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"Driver Station"
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],
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"foldername": "driverstationdisplaylines",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "Driver Station Display ANSI",
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"description": "Stream ANSI text to the Driver Station display and update a value in place once per second.",
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"tags": [
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"Basic Robot",
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"Driver Station"
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],
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"foldername": "driverstationdisplayansi",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "DriveDistanceOffboard",
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"description": "Drive a differential drivetrain a set distance using TrapezoidProfile and smart motor controller PID.",
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"tags": [
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"Commandv2",
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"Differential Drive",
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"Trapezoid Profile",
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"Smart Motor Controller",
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"Gamepad"
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],
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"foldername": "drivedistanceoffboard",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "StateSpaceFlywheel",
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"description": "Control a flywheel using a state-space model (based on values from CAD), with a Kalman Filter and LQR.",
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"tags": [
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"Basic Robot",
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"Flywheel",
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"State-Space",
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"LQR",
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"Encoder",
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"Joystick"
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],
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"foldername": "statespaceflywheel",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "StateSpaceFlywheelSysId",
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"description": "Control a flywheel using a state-space model (based on values from SysId), with a Kalman Filter and LQR.",
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"tags": [
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"Basic Robot",
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"Flywheel",
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"SysId",
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"State-Space",
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"LQR",
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"Encoder",
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"Joystick"
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],
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"foldername": "statespaceflywheelsysid",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "StateSpaceElevator",
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"description": "Control an elevator using a state-space model (based on values from CAD), with a Kalman Filter and LQR.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"State-Space",
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"LQR",
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"Encoder",
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"Joystick"
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],
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"foldername": "statespaceelevator",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "StateSpaceArm",
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"description": "Control an arm using a state-space model (based on values from CAD), with a Kalman Filter and LQR.",
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"tags": [
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"Basic Robot",
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"Arm",
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"State-Space",
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"LQR",
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"Encoder",
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"Joystick"
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],
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"foldername": "statespacearm",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "SimpleDifferentialDriveSimulation",
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"description": "Simulate a differential drivetrain and follow trajectories with LTVUnicycleController (non-Commandv2).",
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"tags": [
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"Differential Drive",
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"State-Space",
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"LTVUnicycleController",
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"Path Following",
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"Trajectory",
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"Encoder",
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"Gamepad",
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"Simulation"
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],
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"foldername": "simpledifferentialdrivesimulation",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "ElevatorSimulation",
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"description": "Simulate an elevator.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"State-Space",
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"Simulation",
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"Mechanism2d",
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"Profiled PID"
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],
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"foldername": "elevatorsimulation",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2,
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"hasunittests": true
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},
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{
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"name": "Elevator Exponential Profile Simulation",
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"description": "Simulate an elevator.",
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"tags": [
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"Basic Robot",
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"Elevator",
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"State-Space",
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"Simulation",
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"Mechanism2d",
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"PID",
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"Exponential Profile"
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],
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"foldername": "elevatorexponentialsimulation",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "ArmSimulation",
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"description": "Simulate a single-jointed arm.",
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"tags": [
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"Basic Robot",
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"Arm",
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"State-Space",
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"Simulation",
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"Mechanism2d",
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"Preferences"
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],
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"foldername": "armsimulation",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2,
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"hasunittests": true
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},
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{
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"name": "UnitTesting",
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"description": "Test a robot project with basic unit tests in simulation.",
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"tags": [
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"Intake",
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"Pneumatics"
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],
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"foldername": "unittest",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2,
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"hasunittests": true
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},
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{
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"name": "DifferentialDrivePoseEstimator",
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"description": "Combine differential-drive odometry with vision data using DifferentialDrivePoseEstimator.",
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"tags": [
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"Differential Drive",
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"State-Space",
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"Pose Estimator",
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"Vision",
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"PID",
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"Gamepad"
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],
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"foldername": "differentialdriveposeestimator",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "MecanumDrivePoseEstimator",
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"description": "Combine mecanum-drive odometry with vision data using MecanumDrivePoseEstimator.",
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"tags": [
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"Mecanum Drive",
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"State-Space",
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"Pose Estimator",
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"Vision",
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"PID",
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"Gamepad"
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],
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"foldername": "mecanumdriveposeestimator",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "SwerveDrivePoseEstimator",
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"description": "Combine swerve-drive odometry with vision data using SwerveDrivePoseEstimator.",
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"tags": [
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"Swerve Drive",
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"State-Space",
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"Pose Estimator",
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"Vision",
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"PID",
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"Gamepad"
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],
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"foldername": "swervedriveposeestimator",
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"gradlebase": "java",
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"robotclass": "Robot",
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"commandversion": 2
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},
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{
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"name": "RomiReference",
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"description": "An example Commandv2 robot program that can be used with the Romi reference robot design.",
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"tags": [
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"Romi",
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"Commandv2",
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"Differential Drive",
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"Digital Input",
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"Joystick"
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],
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"foldername": "romireference",
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"gradlebase": "javaromi",
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"robotclass": "Robot",
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"commandversion": 2,
|
|
"extravendordeps": [
|
|
"romi"
|
|
]
|
|
},
|
|
{
|
|
"name": "XRP Reference",
|
|
"description": "An example Commandv2 robot program that can be used with the XRP reference robot design.",
|
|
"tags": [
|
|
"XRP",
|
|
"Commandv2",
|
|
"Differential Drive",
|
|
"Digital Input",
|
|
"Joystick"
|
|
],
|
|
"foldername": "xrpreference",
|
|
"gradlebase": "javaxrp",
|
|
"robotclass": "Robot",
|
|
"commandversion": 2,
|
|
"extravendordeps": [
|
|
"xrp"
|
|
]
|
|
},
|
|
{
|
|
"name": "XRP Timed",
|
|
"description": "An very basic timed robot program that can be used with the XRP reference robot design.",
|
|
"tags": [
|
|
"XRP",
|
|
"Differential Drive",
|
|
"Joystick"
|
|
],
|
|
"foldername": "xrptimed",
|
|
"gradlebase": "javaxrp",
|
|
"robotclass": "Robot",
|
|
"commandversion": 2,
|
|
"extravendordeps": [
|
|
"xrp"
|
|
]
|
|
},
|
|
{
|
|
"name": "SysIdRoutine",
|
|
"description": "A sample Commandv2 robot demonstrating use of the SysIdRoutine command factory",
|
|
"tags": [
|
|
"SysId",
|
|
"Commandv2",
|
|
"DataLog"
|
|
],
|
|
"foldername": "sysidroutine",
|
|
"gradlebase": "java",
|
|
"commandversion": 2,
|
|
"robotclass": "Robot"
|
|
}
|
|
]
|