1.5.4 - Command-Based Code

Objective: Download, build, and deploy a basic Command-Based template to drive the XRP robot using a PS4 controller.

View Source Code on GitHub

View Source Code on Google Drive

Note

Curriculum To-Do We still need to create a comprehensive 0-to-XRP guide that builds from a blank template. This will eventually lead into more complex FRC methodologies, including PID tuning and State Machine discussions.

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🛑 Prerequisites

Before downloading the code, ensure your environment is set up:

• WPILib VSCode: You must have the official FRC WPILib version of VSCode installed. Do not proceed until this step is complete.
• PS4 Controller: Connect a PS4 controller to your computer via Bluetooth so you can drive wirelessly.
  • Note: The current code relies on the PS4’s Triangle/Square/Circle/Cross layout. If you use a different controller (like Xbox), you will need to rewrite the controller bindings in the code.

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🚀 Step-by-Step Deployment

Step 1: Download and Prepare the Code

1. Download the repository as a ZIP file from the link above and unpack the folder.
2. Open the unpacked folder using VSCode.
3. Stay connected to your normal Wi-Fi. VSCode must download necessary WPILib dependencies from the internet the first time you open the project.

Step 2: Connect to the XRP

1. Turn on the XRP robot and wait for it to boot.
2. Switch your computer’s Wi-Fi network from your home/school internet to the XRP’s broadcasted signal.
3. Password: xrp-wpilib

Step 3: Build and Simulate

To drive the XRP, we use the WPILib Simulation GUI, which acts as a virtual Driver Station.

1. Click the WPI Logo in the top right corner of VSCode (or press Ctrl+Shift+P / Cmd+Shift+P).
2. Type and select “Simulate Robot Code”.

Note

Be Patient! It will take some time to compile the code the first time (1 to 3 minutes). As a rule of thumb: If it hasn’t thrown a red error in the terminal, it is still compiling!

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🎮 Step 4: Time to Drive

Once the simulation GUI loads, you are ready to connect your controller and enable the robot.

1. Assign your Controller: Look at the “System Joysticks” window. Drag and drop your connected PS4 controller into the Joystick (0) slot (unless you assigned a different port in your code).
2. Enable the Robot: Under the “Robot State” window, select Teleoperated.

Danger

Watch the Edge! As soon as you select Teleoperated, the robot is live! Do not test this on a table, or the XRP may drive off the edge and break. Place the robot on the floor before moving the joysticks.