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Programming Team Documentation

This is an overview of the programming subteam's responsibilities. Be sure to check out the External Resources page for various online resources that can help you improve your understanding of these concepts.

Programming the RoboRIO​

The programming subteam is responsible for writing Java code that runs on the RoboRIO. The RoboRIO is one of the most crucial parts of a FRC robot, and it contains a micrpocessor along with several input/output pins used for controlling different parts of the robot.

As a member on the programming team, you will be responsible for writing the code to control different parts of the robot, such as the drivetrain or a claw, and also integrating that code with controller inputs.

In order to do this, you will use the WPILib Library, which contains everything you need to interface with anything that will be connected to the RoboRIO, such as motors and sensors.

Programming the Coprocessors​

In addition to writing code that runs on the RoboRIO, you will also occasionally need to write code that runs on coprocessors such as a Raspberry Pi or a Jetson. These coprocessors are also situated on the robot, and communicate with the RoboRIO through ethernet and a library called NetworkTables. Libraries for NetworkTables exist in other languages, such as Python, enabling code written in different languages to interact with the robot.

Coprocessors are used to perform computationally heavy tasks that are not ideal to run on the RoboRIO. In Team 2554, we use a coprocessor for computer vision tasks, such as finding and targeting vision targets, using the OpenCV library.

Coprocessor code is written in Python as it is easy to use OpenCV in Python, but C++, Java, or Rust can also be used (Python being the most common).

Miscellaneous Tasks​

In addition to programming the robot, the programming subteam is also responsible for a few miscellaneous tasks, such as imaging and/or updating the firmware of the RoboRIO, the WiFi radio, and some motor controllers (such as the Talon SRX or Victor SPX). The programming subteam may also occasionally work on side projects unrelated to the robot, such as maintaining the website, publishing changes to documentation, or writing utility scripts.