Basics

Thinking

• Break down problem
• Code executes sequentially
• vars hold their value
• (little sister problem)

Variables

• ints
• doubles
• chars
• bools
• #define
• formatting

Functions

• library functions (printf)
• user defined

Logic

• if/else
• and && or || not !
• Comparisons
  • Greater Than > Less Than ‘<’
  • Equal to == Not Equal to !=
  • Greater Than or Equal to >=, Less Than or Equal to <=

Loops

• while loop
• for loop

Objects

• basic idea of an object
• Objects we’ll use in robots
  • motor controllers (set speed, get encoder, etc)
  • joystick/controller (get button, get joystick, etc)
• Attributes (variables stored inside of the object)
• Methods (functions tied to the object, e.g. motor->set())

Robot!

Basic Subsystem

• read button
• drive motor

Basic Driving

• read joystick(s)
• drive motors

Intermediate Subsystem

• conditionals
• read buttons
• run motors / pneumatics
• use digital sensors (limit switch, light sensor, etc)

Basic Auto

• use timing to control distances
• sequential instructions

Beyond “Go”: SparkMax & TalonSRX Libraries

• curent sensing/limiting
• read/use sensors
• motor modes

Advanced Subsystem

• positional/velocity control (arm v shooter)
• use encoders
• tune PID loops

Combining Steps

• Combine/modify commands
• keep track of states
• control multiple subsystems with one command

Advanced Auto

• use encoders to drive specific distances
• read gyro/use to control turn angle
• combining instructions

Advanced Controls

• “Cheesy Drive”
  • Constant Radius Turn
  • Quick Turn Button
  • Velocity Control (Feed Forward, PID)