FRC Programming Done Right
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Introduction to Programming
Introduction to Java
Introduction to C++
Introduction to Python
Good Practices
Code Structure
Debugging
User Input
Controllers
Joystick Utilities
Control
Driving Straight
Gyros
PID Control
Using WPILib’s PID Controller Class
Encoders
Limit Switches
Data
Introduction to Data Analysis
Vision
Introduction
Thresholding
Morphological Operations
Contour Features
FRC Programming Done Right
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Welcome!
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Introduction to Programming
Introduction to Java
Introduction to C++
Introduction to Python
Good Practices
Code Structure
Structure of Your Robot Program
Debugging
Print statements
Loggers
NetConsole
User Input
Controllers
Determining Joystick Mappings
Xbox Controller
Joystick Utilities
Toggles
Debouncers
Control
Driving Straight
Using a Gyro
Using Encoders
What to use?
Gyros
Rotating to an Angle
PID Control
Proportional
Integral
Derivative
Feed-Forward
Using PID on your robot
Tuning Methods
Which ones to use
Using WPILib’s PID Controller Class
Advantages of the WPILib PID Controller Class
Disadvantges of the WPILib PID Controller Class
Implementing a basic PID Control
Options of PID Control
Velocity PID Control
Using PID Subsystem
Explanation of the various PID WPILib class’s
Adding Ramping for motors
Encoders
Relative Encoders
Absolute Encoders
Limit Switches
Wiring a Limit Switch
Programming a Limit Switch
Data
Introduction to Data Analysis
Phases
Data Requirements
Data Collection
Data Processing
Data Modelling
Vision
Introduction
Data Structures
The Basics
Thresholding
Threshold
inRange
Otsu
Thresholding with Color Images
Using HSV Thresholding
Using Trackbars/Sliders for Real Time Tuning
Morphological Operations
Erosion
Dilation
Properties of Morphologpical Operations
Morophological Operations Playground
Uses in FRC
Contour Features
Contour Area
Aspect Ratio
Solidity
Finding the center
Drawing
Putting it all together
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