Command based docs updates 2024 by Lyssia-Seiden · Pull Request #70 · HighlanderRobotics/Highlanders-Training

Lyssia-Seiden · 2024-08-10T19:51:48Z

No description provided.

Awesomeplayer165 · 2024-08-10T20:54:18Z

This looks like it has a lot more than just command based? Looks like it was a merge tho so it's fine

spellingcat

yeah i think i already looked at most of this in other prs

spellingcat · 2024-08-10T21:36:21Z

Docs/Architecture/CommandBased.md

+  The important segment of all of this to remember is:
  > Commands represent actions the robot can take. Commands run when scheduled, until they are interrupted or their end condition is met. Commands are very recursively composable: commands can be composed to accomplish more-complicated tasks. See Commands for more info.
  >
  > Subsystems represent independently-controlled collections of robot hardware (such as motor controllers, sensors, pneumatic actuators, etc.) that operate together. Subsystems back the resource-management system of command-based: only one command can use a given subsystem at the same time. Subsystems allow users to “hide” the internal complexity of their actual hardware from the rest of their code - this both simplifies the rest of the robot code, and allows changes to the internal details of a subsystem’s hardware without also changing the rest of the robot code.


not sure if you want to have this as a block quote, do you also want to add a summary for triggers?

these are taken directly from the wpilib docs, hence the block quote. not sure if it still needs to be there since its decently redundant w the intro

kevinclark · 2024-08-11T04:53:05Z

Docs/Architecture/CommandBased.md

+
 A Subsystem is a set of hardware that forms one system on our robot, like the drivetrain, elevator, arm, or intake.
 Each subsystem contains some associated hardware (motors, pistons, sensors, etc.) They are the "nouns" of our robot, what it is.
+Each Subsystem is generally made to contain as broad of a set of hardware that will always operate as a unit as possible.


"as possible" can probably be dropped here? Unless you mean 'if' but would be kind of weird to have parts of a subsystem not working in concert? Expert level choice to work around that and pretty specific circumstances.

kevinclark · 2024-08-11T04:53:55Z

Docs/Architecture/CommandBased.md


+Subsystems are ways to organize resources that can be used by one Command at a time.
+
+Some hardware might not be stored in a Subsystem if multiple things can/should use it.


"if multiple things can use it at the same time safely"?

kevinclark · 2024-08-11T04:56:05Z

Docs/Architecture/CommandBasedPresentationNotes.md

 ```Java
 // Runs the intake rollers forever
-new RunCommand(() -> intakeSubsystem.spinRoller(), intakeSubsystem);
+Commands.run(() -> intakeSubsystem.spinRoller(), intakeSubsystem);


intakeSubsystem::spinRoller

kevinclark · 2024-08-11T04:56:19Z

Docs/Architecture/CommandBasedPresentationNotes.md

 // Note that the real hardware doesn't move instantly
 // But we only need to set it once in code
-new InstantCommand(() -> intakeSubsystem.retract(), intakeSubsystem);
+Commands.runOnce(() -> intakeSubsystem.retract(), intakeSubsystem);


intakeSubsystem::retract

kevinclark · 2024-08-11T04:56:54Z

Docs/Architecture/CommandBasedPresentationNotes.md

+// The subsystem does it implicitly
+this.run(() -> spinRoller());
+
+this.runOnce(() -> retract());


this::spinRoller and this::retract

And so on further down

kevinclark · 2024-08-11T04:58:20Z

Docs/Architecture/WPILib.md

+WPILib is an open source library built for FRC which abstracts away the low level code to allow us to focus on the high-level control logic.
+The project has a large number of features and is the main building block that our code is built on top of.
+It also has extensive documentation both for it's own API and for the concepts and math behind many of its features.
+Venders (companies that sell us parts) also often have libraries to interface with their parts.


kevinclark

Generally very good work. Couple of minor notes.

kevinclark · 2024-08-11T04:59:41Z

Docs/General/ElectronicsCrashCourse.md

 ### Electrical system diagram

-![Rev electrical system diagram](../../Assets/RevElectricalSystemDiagram.png)
+<img alt="Rev electrical system diagram" src="../../Assets/RevElectricalSystemDiagram.png" width="400" height="400">


Not loving the markdown inline?

this was to make all images the same size, which did not appear to be possible with the ![]() syntax

Lyssia-Seiden · 2024-08-11T06:09:59Z

This looks like it has a lot more than just command based? Looks like it was a merge tho so it's fine

bruh i thought i set it to merge to 2024 not main

kevinclark

There are a variety of changes here that look like they shouldn't compile, or if they do, are internally inconsistent.

kevinclark · 2024-08-21T15:40:40Z

Docs/Architecture/CommandBased.md

  >
  > Subsystems represent independently-controlled collections of robot hardware (such as motor controllers, sensors, pneumatic actuators, etc.) that operate together. Subsystems back the resource-management system of command-based: only one command can use a given subsystem at the same time. Subsystems allow users to “hide” the internal complexity of their actual hardware from the rest of their code - this both simplifies the rest of the robot code, and allows changes to the internal details of a subsystem’s hardware without also changing the rest of the robot code.
- [WPILib intro to functional programming](https://docs.wpilib.org/en/stable/docs/software/basic-programming/functions-as-data.html).
-  Read through this article on lambda expressions and functional programming.


Is this covered elsewhere?

it got moved up in the list

kevinclark · 2024-08-21T15:42:13Z

Docs/Architecture/CommandBasedPresentationNotes.md

  - Pneumatics
  - Sensors
- Mutex, prevents multiple things from using the same hardware at the same time
+- [Mutex](https://en.wikipedia.org/wiki/Lock_(computer_science)), prevents multiple things from using the same hardware at the same time


Might note mutex comes from "mutual exclusion/mutually exclusive".

kevinclark · 2024-08-21T15:45:43Z

Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java


  public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) {
-    return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this);
+    return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this);


This seems wrong. RunCommand is being passed a value not a function. And one of the two values to setVoltages is a function while the other is a value. Either acquiring left should be passed as a function or the whole thing should still be a lambda, otherwise we're binding to a constant parameter.

kevinclark · 2024-08-21T15:48:31Z

Examples/KitbotDemoFinal/src/main/java/frc/robot/RobotContainer.java

-            () -> modifyJoystickAxis(controller.getLeftY()),
-            () -> modifyJoystickAxis(-controller.getLeftX()), 
+            modifyJoystickAxis(controller::getLeftY),
+            modifyJoystickAxis(-controller::getLeftX), 


A negative function seems wrong. This is one of the cases where you want to pass a lambda instead of a method reference - we need to change the value that comes out. Alternatively you could chain a function that negates the value but that's probably a lot more typing than just a lambda unless you have a 'not' implementation sitting around.

kevinclark · 2024-08-21T15:49:55Z

Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java

  // Command that wraps drive method
  public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) {
-    return new RunCommand(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean()), this);
+    return new RunCommand(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop::getAsBoolean), this);


This shouldn't compile (passing void to RunCommand) and is a problem for the same issues above.

kevinclark · 2024-08-21T15:52:07Z

Examples/KitbotDemoSim/src/main/java/frc/robot/RobotContainer.java

-        () -> modifyJoystick(controller.getLeftY()), 
-        () -> modifyJoystick(controller.getRightX())));
+        modifyJoystick(controller::getLeftY), 
+        modifyJoystick(controller::getRightX)));


This doesn't look like it should compile.

Lyssia-Seiden · 2024-08-22T01:32:09Z

There are a variety of changes here that look like they shouldn't compile, or if they do, are internally inconsistent.

this is why i shouldnt have used a regex to find and replace stuff...

kevinclark · 2024-08-22T21:16:49Z

Docs/Architecture/KitbotExampleWalkthrough.md

 ```Java
 public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) {
-    return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this);
+    return new RunCommand(this.setVoltages(left.getAsDouble(), right::getAsDouble), this);


This one probably still needs the lambda and to revert the right.getAsDouble() call.

kevinclark · 2024-08-22T21:17:49Z

Docs/Architecture/KitbotExampleWalkthrough.md

-        () -> modifyJoystick(controller.getLeftY()),
-        () -> modifyJoystick(controller.getRightX())));
+        modifyJoystick(controller::getLeftY),
+        modifyJoystick(controller::getRightX)));


This probably needs to be reverted.

kevinclark · 2024-08-22T21:18:53Z

Examples/KitbotDemoBasic/src/main/java/frc/robot/Subsystems/DrivetrainSubsystem.java

      var speeds = DifferentialDrive.arcadeDriveIK(drive.getAsDouble(), steer.getAsDouble(), false);
      this.setVoltages(speeds.left * 12, speeds.right * 12);
-    }, this);
+    });


These need to be reverted, yeah? setVoltages is void.

this.run replaces the this at the end of the RunCommand constructor

kevinclark · 2024-08-22T21:19:02Z

Examples/KitbotDemoFinal/src/main/java/frc/robot/subsystems/Drivetrain/DrivetrainSubsystem.java

  // Command that wraps drive method
  public CommandBase driveCommand(DoubleSupplier speed, DoubleSupplier angle, BooleanSupplier isClosedLoop) {
-    return new RunCommand(() -> drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean()), this);
+    return this.run(drive(speed.getAsDouble(), angle.getAsDouble(), isClosedLoop.getAsBoolean()));


kevinclark · 2024-08-22T21:19:22Z

Examples/KitbotDemoSim/src/main/java/frc/robot/Subsystems/Drivetrain/DrivetrainSubsystem.java


  public CommandBase setVoltagesCommand(DoubleSupplier left, DoubleSupplier right) {
-    return new RunCommand(() -> this.setVoltages(left.getAsDouble(), right.getAsDouble()), this);
+    return this.run(this.setVoltages(left.getAsDouble(), right.getAsDouble()));


…ax checker would be a good idea

Awesomeplayer165

mostly fine, one comment about PathPlanner --> Choreo vendor

Awesomeplayer165 · 2024-09-16T04:11:05Z

Docs/Architecture/WPILib.md

+Vendors (companies that sell us parts) also often have libraries to interface with their parts.
 These include the [Phoenix library](https://v6.docs.ctr-electronics.com/en/stable/) made by CTRE, the manufacturer of the majority of our motor controllers.

 We also use other libraries for other tasks that WPILib doesn't support. One of these is [Photonvision](../Specifics/Vision.md), a library that processes our camera feeds to turn them into useful target information.


on line 17, maybe change PathPlanner to Choreo, so we are more up to date.

…ese all at once

* wording tweaks and updates to BasicGit.md * remove last names from BasicGit.md * brush up git workflow doc * add mac/linux git install link * pr feedback word tweaks * Vision 2024 (#69) * merged wpilib.md and wpilibintro.md * hide spectrum talk a bot more * specify reference sheet type Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> * convert electronics pictures to html and add size tags * add `s to latex * fix readme wpilib link * add apriltag image * 2024 vision updates * remove obj detection link * feedback * hopefully explained multitag better --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> * added example stage 3 writeup * began supersturcture writeup * add explanation of a state trigger binding * first draft of sim article edits (#73) * first draft of sim article edits * feedback * fixed latex * never mind * it's working in the vscode preview hello * i'm so sorry * more writing * add conclusion to writeup * Update Stage-3-Writeups/Superstructure-Triggers.md Co-authored-by: Jacob Trentini <jacobtrentinidevelopment@gmail.com> * fix monolithic typo * Akit code structure reference (#81) * added akit structure reference doc * tweaked mermaid graph code * more tweaks to try to get mermaid graph working * more tweaks * format please * example works? * what i care about works? * wrote reference material * Prettified Code! * pneumatics are for losers booo [updated code examples to reflect current practices, no substantive content changes] --------- Co-authored-by: Lewis-Seiden <aPotatoeWithANaginata@gmail.com> Co-authored-by: spellingcat <spellingcat@users.noreply.github.com> * Docs: Choreo Stack and Codebase Integration (#74) * add choreo.md * add numerical optimization * update choreo article --------- Co-authored-by: Jacob Trentini <dev@jacob2.dev> Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> * Command based docs updates 2024 (#70) * editing pass on CommandBased.md * kevin pr feedback * fixed examples * fix kitbot examples\ (who wouldve thought that installing a java syntax checker would be a good idea * replace pathplanner reference to choreo reference in wpilib intro * update projects to 2025 (surely there's a better way to do this 😭) * import basic project also * update command based articles --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> --------- Co-authored-by: Lewis-Seiden <lewy@seiden.us> Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> Co-authored-by: Jacob Trentini <jacobtrentinidevelopment@gmail.com> Co-authored-by: spellingcat <spellingcat@users.noreply.github.com> Co-authored-by: Jacob Trentini <dev@jacob2.dev>

editing pass on CommandBased.md

cd4edca

Lyssia-Seiden requested review from Awesomeplayer165 and spellingcat August 10, 2024 19:51

spellingcat reviewed Aug 10, 2024

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spellingcat linked an issue Aug 10, 2024 that may be closed by this pull request

Stage 2 - Command Based #54

Closed

kevinclark reviewed Aug 11, 2024

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Lyssia-Seiden changed the base branch from main to 2024 August 11, 2024 06:11

kevin pr feedback

86fcd54

Lyssia-Seiden requested a review from kevinclark August 15, 2024 00:03

kevinclark requested changes Aug 21, 2024

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fixed examples

0f045bd

Lyssia-Seiden requested a review from kevinclark August 22, 2024 19:46

kevinclark requested changes Aug 22, 2024

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fix kitbot examples\ (who wouldve thought that installing a java synt…

19f958a

…ax checker would be a good idea

Lyssia-Seiden requested a review from kevinclark September 12, 2024 23:35

Awesomeplayer165 approved these changes Sep 16, 2024

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replace pathplanner reference to choreo reference in wpilib intro

fc34f75

Lyssia-Seiden requested a review from Awesomeplayer165 September 17, 2024 01:22

spellingcat added 3 commits July 23, 2025 16:44

Merge branch '2024' into command-based-2024

49db870

Merge branch '2024' into command-based-2024. lowkey should've done th…

2cc4b1e

…ese all at once

update projects to 2025 (surely there's a better way to do this 😭)

52b51e7

spellingcat added 2 commits July 26, 2025 16:39

import basic project also

9b45078

update command based articles

d6dd7bf

spellingcat merged commit 73313f5 into 2024 Jul 27, 2025
1 check passed

spellingcat deleted the command-based-2024 branch July 27, 2025 00:32


		Subsystems are ways to organize resources that can be used by one Command at a time.

		Some hardware might not be stored in a Subsystem if multiple things can/should use it.

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Lyssia-Seiden commented Aug 11, 2024

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Lyssia-Seiden commented Aug 22, 2024

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Awesomeplayer165 commented Aug 10, 2024 •

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