Skip to content
2064 Docs

1.5.4 - Command-Based Code

1.5.4 - Command-Based Code

Section titled “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 :material-github:

🛑 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.

🚀 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”.

Simulate XRP

🎮 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.

XRP Dashboard