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Jestin VanScoyoc edited this page Dec 30, 2025 · 3 revisions

FRC 3603
CYBER COYOTES

Introduction

Welcome! These Guides will help you transition from FTC-style programming to FRC Command-Based programming. If you've done FTC, you already know more than you think—many concepts transfer directly, just with different names and patterns.

What's in These Guides

Guide What You'll Learn
Java Refresher Quick recap of Java concepts, FRC naming conventions, project structure
GitHub Workflow Version control, branches, pull requests, issues, team conventions
Command-Based Fundamentals Subsystems, commands, and why we use this architecture
Commands Deep Dive Command factories, compositions, and advanced patterns
Triggers and Bindings Controller input, sensor triggers, event-driven programming
State Machines When and how to use state machines in subsystems
Vision: Limelight
Game Tools
CTRE: ID and Firmware
CTRE: Motor Profiles
CTRE: Motor Tuning

FTC → FRC: Key Differences

You're used to FTC's iterative/time-based approach where your opModeLoop() runs continuously and you check conditions each cycle. FRC's Command-Based framework is event-driven—you declare what should happen when certain conditions are met, and the framework handles the execution.

FTC Concept FRC Equivalent
opModeLoop() checking conditions Triggers that automatically fire commands
Big if/else chains in teleop Button bindings in RobotContainer
Motor/servo wrapper classes Subsystems
State variables scattered around State machines within subsystems
LinearOpMode Command-Based Robot project

How to Use These Guides

  1. Read in order — Each builds on the previous
  2. Type the code — Don't just read, actually write it out
  3. Ask questions — Flag anything confusing; we'll discuss as a team
  4. Experiment — The best learning happens when you break things

Our Tech Stack

  • Language: Java
  • Framework: WPILib Command-Based with leanings toward state machines
  • Hardware: CTRE swerve drivetrain (Phoenix 6), Limelight 4 vision
  • Controllers: Xbox (standard or Elite Series 2) for both driver and operator
  • Autonomous Paths: Choreo
  • Version Control: Git/GitHub

Getting Help

  • Stuck on a concept? Ask in myself, teammates, email, post an Issue #getHelp
  • Code not working? Check the WPILib docs first, then ask
  • Found a bug in these Guides? Let us know so we can fix it!

Remember: Every experienced programmer was once a beginner. The only bad question is the one you don't ask.

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