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Stage1a auto + additonal motors #194

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c4a5aaf
auto text
Spaceman113138 Aug 15, 2026
4a9a253
Additional Motors Start
Spaceman113138 Aug 19, 2026
958e8c6
format and build
Spaceman113138 Aug 20, 2026
bfd2d52
fuel sim
Spaceman113138 Aug 21, 2026
2bb501a
teleop
Spaceman113138 Aug 22, 2026
45c0897
start simulation
Spaceman113138 Aug 23, 2026
9c7c26e
start talking about sim
Spaceman113138 Aug 24, 2026
4e619b7
auto video
Spaceman113138 Aug 24, 2026
448ccc7
Ascope videos
Spaceman113138 Aug 24, 2026
64e4283
Merge branch 'main' into stage1a-auto
Spaceman113138 Aug 24, 2026
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16 changes: 16 additions & 0 deletions examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java
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Expand Up @@ -12,12 +12,14 @@
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.MotorAlignmentValue;
import first.robot.simulation.DrivetrainSim;
import first.robot.simulation.FuelSim;
import first.robot.simulation.SingleFlywheelSim;
import org.wpilib.drive.DifferentialDrive;
import org.wpilib.framework.OpModeRobot;
import org.wpilib.hardware.imu.OnboardIMU;
import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;

// [FullRobot]
// [RobotWithSimPart1]
// [RobotTop]
/**
Expand Down Expand Up @@ -56,12 +58,19 @@ public class Robot extends OpModeRobot {
// [/DrivetrainSim]
// [/RobotWithSimPart1]

// [AdditionalMotors]
public TalonFX intakeLauncher = new TalonFX(4, CANBus.systemcore(0));
public TalonFX feeder = new TalonFX(5, CANBus.systemcore(0));
// [/AdditionalMotors]

// [IntakeLauncherSim]
private SingleFlywheelSim intakeLauncherSim = SingleFlywheelSim.forIntakeLauncher(intakeLauncher);
// [/IntakeLauncherSim]
// [FeederSim]
private SingleFlywheelSim feederSim = SingleFlywheelSim.forFeeder(feeder);

// [/FeederSim]

// [RobotWithSimPart2]
// [AllConfigs]
/**
Expand Down Expand Up @@ -99,8 +108,15 @@ public Robot() {
public void simulationPeriodic() {
drivetrainSim.periodic();
// [/DriveSimPeriodic]
// [MotorSimPeriodic]
intakeLauncherSim.periodic();
feederSim.periodic();
// [/MotorSimPeriodic]

// [FuelSimPeriodic]
FuelSim.periodic();
// [/FuelSimPeriodic]
}
// [/RobotWithSimPart2]
// [/FullRobot]
}
2 changes: 2 additions & 0 deletions examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
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Expand Up @@ -25,6 +25,7 @@ public void start() {
autoTimer.restart(); // Reset the timer to zero at the start of auto

@Adrianamm Adrianamm Aug 24, 2026

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It's autoTimer here but it's timer in the Rev solution. Should probably pick one and use it throughout

}

// [SimpleAuto]
/*
* This method runs periodically, using the same period as the Robot instance.
*
Expand All @@ -39,4 +40,5 @@ public void periodic() {
robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation
}
}
// [/SimpleAuto]
}
10 changes: 9 additions & 1 deletion examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/opmode/MyTeleop.java
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Expand Up @@ -32,25 +32,33 @@ public void periodic() {
// [/DriveSimPeriodic]
// [/FullDrivetrain]

// [launchFuel]
if (xboxController.getRightBumperButton()) {
// shoot
// launch
robot.intakeLauncher.setThrottle(0.9);
robot.feeder.setThrottle(0.75);

// [/launchFuel]
// [intakeFuel]
} else if (xboxController.getLeftBumperButton()) {
// intake
robot.intakeLauncher.setThrottle(0.8);
robot.feeder.setThrottle(-1.0);

// [/intakeFuel]
// [outakeFuel]
} else if (xboxController.getAButton()) {
// outake
robot.intakeLauncher.setThrottle(-0.8);
robot.feeder.setThrottle(1.0);

// [/outakeFuel]
// [stopMotors]
} else {
// stop
robot.intakeLauncher.setThrottle(0.0);
robot.feeder.setThrottle(0.0);
}
// [/stopMotors]
}
}
2 changes: 1 addition & 1 deletion examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/simulation/FuelSim.java
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Expand Up @@ -54,7 +54,7 @@ private enum Mode {
static Supplier<Pose2d> robotPoseSupplier = () -> Pose2d.kZero;

/** Updates the fuel sim. */
public static void update() {
public static void periodic() {
updateMode();
updateVisualization();
}
Expand Down
16 changes: 15 additions & 1 deletion examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/Robot.java
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Expand Up @@ -18,6 +18,7 @@
import org.wpilib.hardware.imu.OnboardIMU;
import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;

// [FullRobot]
// [RobotWithSimPart1]
// [RobotTop]
/**
Expand Down Expand Up @@ -53,12 +54,19 @@ public class Robot extends OpModeRobot {
// [/DrivetrainSim]
// [/RobotWithSimPart1]

// [AdditionalMotors]
public SparkMax intakeLauncher = new SparkMax(0, 4, MotorType.kBrushless);
public SparkMax feeder = new SparkMax(0, 5, MotorType.kBrushless);
// [/AdditionalMotors]

// [IntakeLauncherSim]
private SingleFlywheelSim intakeLauncherSim = SingleFlywheelSim.forIntakeLauncher(intakeLauncher);
// [/IntakeLauncherSim]
// [FeederSim]
private SingleFlywheelSim feederSim = SingleFlywheelSim.forFeeder(feeder);

// [/FeederSim]

// [RobotWithSimPart2]
// [AllConfigs]
/**
Expand Down Expand Up @@ -101,8 +109,14 @@ public void simulationPeriodic() {
drivetrainSim.periodic();
// [/DriveSimPeriodic]
intakeLauncherSim.periodic();
// [MotorSimPeriodic]
feederSim.periodic();
FuelSim.update();
// [/MotorSimPeriodic]

// [FuelSimPeriodic]
FuelSim.periodic();
// [/FuelSimPeriodic]
}
// [/RobotWithSimPart2]
}
// [/FullRobot]
9 changes: 9 additions & 0 deletions examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
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Expand Up @@ -15,6 +15,7 @@ public class MyAuto extends PeriodicOpMode {
private final Robot robot;
private Timer timer = new Timer();

/** The Robot instance is passed into the opmode via the constructor. */
public MyAuto(Robot robot) {
this.robot = robot;
}
Expand All @@ -24,6 +25,13 @@ public void start() {
timer.restart();
}

// [SimpleAuto]
/*
* This method runs periodically, using the same period as the Robot instance.
*
* Additional periodic methods may be configured with addPeriodic(),
* which can have periods that differ from the main Robot instance.
*/
@Override
public void periodic() {
if (timer.hasElapsed(4)) {

@Adrianamm Adrianamm Aug 24, 2026

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Suggested change
if (timer.hasElapsed(4)) {
if (timer.hasElapsed(4)) { // Drive for 4 seconds after the start of auto

@Adrianamm Adrianamm Aug 24, 2026

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the comment was in the CTRE but not REV. I thought it's a good comment to have on both

Expand All @@ -32,4 +40,5 @@ public void periodic() {
robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation
}
}
// [/SimpleAuto]
}
13 changes: 12 additions & 1 deletion examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
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Expand Up @@ -31,22 +31,33 @@ public void periodic() {
// [/DriveSimPeriodic]
// [/FullDrivetrain]

// [launchFuel]
if (xboxController.getRightBumperButton()) {
// shoot
// launch
robot.intakeLauncher.setThrottle(0.9);
robot.feeder.setThrottle(0.75);

// [/launchFuel]
// [intakeFuel]
} else if (xboxController.getLeftBumperButton()) {
// intake
robot.intakeLauncher.setThrottle(0.8);
robot.feeder.setThrottle(-1.0);

// [/intakeFuel]
// [outakeFuel]
} else if (xboxController.getAButton()) {
// outtake
robot.intakeLauncher.setThrottle(-0.8);
robot.feeder.setThrottle(1.0);

// [/outakeFuel]
// [stopMotors]
} else {
// stop
robot.intakeLauncher.setThrottle(0.0);
robot.feeder.setThrottle(0.0);
}
// [/stopMotors]
}
}
2 changes: 1 addition & 1 deletion examples/stage1/stage1a/solutions/rev/src/main/java/first/robot/simulation/FuelSim.java
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Expand Up @@ -54,7 +54,7 @@ private enum Mode {
static Supplier<Pose2d> robotPoseSupplier = () -> Pose2d.kZero;

/** Updates the fuel sim. */
public static void update() {
public static void periodic() {
updateMode();
updateVisualization();
}
Expand Down
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16 changes: 8 additions & 8 deletions src/config/sidebarConfig.ts
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Expand Up @@ -107,14 +107,14 @@ export const sidebarSections: Record<string, SidebarSection[]> = {
label: 'Drivetrain Simulation',
slug: 'learning-course/stage1/stage1a/drivetrain-sim',
},
// {
// label: 'TBD',
// slug: 'stage-1a-commands/the-command-body',
// },
// {
// label: 'TBD',
// slug: 'stage-1a-commands/commands-and-mechanisms',
// },
{
label: 'Simple Auto',
slug: 'learning-course/stage1/stage1a/simple-auto',
},
{
label: 'Additional Motors',
slug: 'learning-course/stage1/stage1a/kitbot-additional-motors',
},
],
},
{
Expand Down
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