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Updated Differential Drive Documentation and Fixed the syntax in the Slides and Flywheels examples #24

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Merged
zachwaffle4 merged 7 commits into from
Jan 5, 2026
Merged

Updated Differential Drive Documentation and Fixed the syntax in the Slides and Flywheels examples #24

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5591ed2
Update Differential Drive Documentation
KavinSandking Dec 26, 2025
a1b22e5
Fix goal setting in Java portion of example usage of Slides
KavinSandking Dec 26, 2025
6132092
Fix goal setting method in Flywheels for the java portions
KavinSandking Dec 26, 2025
76b58a1
fixed java parts of setting motor power in flywheels section
KavinSandking Jan 4, 2026
18a3e58
fixed java parts for setting power in slides
KavinSandking Jan 4, 2026
bbfae77
fix kotlin syntax for initialization and setting motor power in slides
KavinSandking Jan 4, 2026
3d61522
fix kotlin syntax for motor initialization and setting motor power
KavinSandking Jan 4, 2026
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26 changes: 13 additions & 13 deletions src/control/examples/flywheels.md
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ We can easily do that by simply changing the `goal` of our `ControlSystem`:

```kotlin
class FlywheelExample() : OpMode() {
val flywheelMotor by lazy { hardwareMap.get(DcMotorEx.class, "flywheel") }
val flywheelMotor by lazy { hardwareMap.get(DcMotorEx::class.java, "flywheel") }
val controller = controlSystem {
velPid(0.001, 0.0, 0.0)
}
Expand All @@ -58,10 +58,10 @@ class FlywheelExample() : OpMode() {
controller.goal = KineticState(0.0, 1000.0)
}

flywheelMotor.power = controller.calculate(
flywheelMotor.currentPosition,
flywheelMotor.velocity
)
flywheelMotor.power = controller.calculate(KineticState(
flywheelMotor.currentPosition.toDouble(),
flywheelMotor.velocity
))
}
}
```
Expand All @@ -81,23 +81,23 @@ public class FlywheelExample extends OpMode {
.velPid(0.001, 0.0, 0.0)
.build();

controller.goal = new KineticState(0.0);
controller.setGoal(new KineticState(0.0));
}

@Override
public void loop() {
if (gamepad1.aWasPressed()) {
controller.goal = new KineticState(0.0, 2000.0);
controller.setGoal(new KineticState(2000.0));
} else if (gamepad1.bWasPressed()) {
controller.goal = new KineticState(0.0, 0.0);
controller.setGoal(new KineticState(0.0));
} else if (gamepad1.xWasPressed()) {
controller.goal = new KineticState(0.0, 1000.0);
controller.setGoal(new KineticState(1000.0));
}

flywheelMotor.setPower(controller.calculate(
flywheelMotor.getCurrentPosition(),
flywheelMotor.getVelocity()
));
flywheelMotor.setPower(controller.calculate(new KineticState(
flywheelMotor.getCurrentPosition(),
flywheelMotor.getVelocity()))
);
}
}
```
Expand Down
24 changes: 12 additions & 12 deletions src/control/examples/slides.md
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ We can easily do that by simply changing the `goal` of our `ControlSystem`:

```kotlin
class SlideExample() : OpMode() {
val slideMotor by lazy { hardwareMap.get(DcMotorEx.class, "slides") }
val slideMotor by lazy { hardwareMap.get(DcMotorEx::class.java, "slides") }
val controller = controlSystem {
posPid(0.1, 0.0, 0.0)
elevatorFF(0.04)
Expand All @@ -64,10 +64,10 @@ class SlideExample() : OpMode() {
controller.goal = KineticState(500.0)
}

slideMotor.power = controller.calculate(
slideMotor.currentPosition,
slideMotor.power = controller.calculate(KineticState(
slideMotor.currentPosition.toDouble(),
slideMotor.velocity
)
))
}
}
```
Expand All @@ -88,23 +88,23 @@ public class SlideExample extends OpMode {
.elevatorFF(0.04)
.build();

controller.goal = new KineticState(0.0);
controller.setGoal(new KineticState(0));
}

@Override
public void loop() {
if (gamepad1.a) {
controller.goal = new KineticState(1000.0);
controller.setGoal(new KineticState(1000.0));
} else if (gamepad1.b) {
controller.goal = new KineticState(0.0);
controller.setGoal(new KineticState(0.0));
} else if (gamepad1.x) {
controller.goal = new KineticState(500.0);
controller.setGoal(new KineticState(500.0));
}

slideMotor.setPower(controller.calculate(
slideMotor.getCurrentPosition(),
slideMotor.getVelocity()
));
slideMotor.setPower(controller.calculate(new KineticState(
slideMotor.getCurrentPosition(),
slideMotor.getVelocity()))
);
}
}
```
Expand Down
139 changes: 38 additions & 101 deletions src/nextftc/hardware/drivetrain-commands/differential.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,120 +6,37 @@
> [!TIP] INFO
> For a differential drive, there are two types of drive systems. You can use the tank and arcade control schemes with a differential drive.
>
> Arcade drive use a y-value input from the controller and a value from the turn stick. We know that when the turn stick is pushed left, the right side should move forward and the left side should move backwards. Therefore, since pushing the turn stick to the left returns a negative value, it should be added to the left speed and subtracted from the right speed.
> Arcade drive uses a y-value input from the controller and a value from the turn stick. We know that when the turn stick is pushed left, the right side should move forward and the left side should move backwards. Therefore, since pushing the turn stick to the left returns a negative value, it should be added to the left speed and subtracted from the right speed.
>
> Tank drive uses a y-value input from the left and right sticks. The sticks control their respective side of the robot.

## Usage

First, you need to create your motors. Let's create variables for their names:
First, you need to create your motors. Let's create variables for them:

:::tabs key:code
== Kotlin

```kotlin
val frontLeftName = "front_left"
val frontRightName = "front_right"
val backLeftName = "back_left"
val backRightname = "back_right"
```

== Java

```java
public String frontLeftName = "front_left";
public String frontRightName = "front_right";
public String backLeftName = "back_left";
public String backRightName = "back_right";
```

:::

Next, we'll create variables for the motors and motor groups for each of the sides. If you only have one motor each side, you can skip creating the motor groups.

:::tabs key:code
== Kotlin

```kotlin
lateinit var frontLeftMotor: MotorEx
lateinit var frontRightMotor: MotorEx
lateinit var backLeftMotor: MotorEx
lateinit var backRightMotor: MotorEx

lateinit var leftMotors: MotorGroup
lateinit var rightMtoors: MotorGroup
```

== Java

```java
public MotorEx frontLeftMotor;
public MotorEx frontRightMotor;
public MotorEx backLeftMotor;
public MotorEx backRightMotor;

public MotorGroup leftMotors;
public MotorGroup rightMotors;
```

:::
private val frontLeftMotor = MotorEx("front_left").breakMode().reversed()
private val frontRightMotor = MotorEx("front_right").breakMode()
private val backLeftMotor = MotorEx("back_left").breakMode().reversed()
private val backRightMotor = MotorEx("back_right").breakMode()

Lastly, we'll create a variable for the command:

:::tabs key:code
== Kotlin

```kotlin
lateinit var driverControlled: Command
private val leftMotors = MotorGroup(frontLeftMotor, backLeftMotor);
private val rightMotors = MotorGroup(frontRightMotor, backRightMotor);
```

== Java

```java
public Command driverControlled;
```

:::
private MotorEx frontLeftMotor = new MotorEx("front_left").breakMode().reversed();
private MotorEx frontRightMotor = new MotorEx("front_right").breakMode();
private MotorEx backLeftMotor = new MotorEx("back_left").breakMode().reversed();
private MotorEx backRightMotor = new MotorEx("back_right").breakMode();

Now, in the `onInit()` function, we will initialize all our variables:

:::tabs key:code
== Kotlin

```kotlin
frontLeftMotor = MotorEx(frontLeftName)
backLeftMotor = MotorEx(backLeftName)
backRightMotor = MotorEx(backRightName)
frontRightMotor = MotorEx(frontRightName)

// Change your motor directions to suit your robot.
frontLeftMotor.direction = DcMotorSimple.Direction.REVERSE
backLeftMotor.direction = DcMotorSimple.Direction.REVERSE
frontRightMotor.direction = DcMotorSimple.Direction.FORWARD
backRightMotor.direction = DcMotorSimple.Direction.FORWARD

// Skip this if you are only using two motors.
leftMotors = MotorGroup(frontLeftMotor, backLeftMotor)
rightMotors = MotorGroup(frontRightMotor, backRightMotor)
```

== Java

```java
frontLeftMotor = new MotorEx(frontLeftName);
backLeftMotor = new MotorEx(backLeftName);
backRightMotor = new MotorEx(backRightName);
frontRightMotor = new MotorEx(frontRightName);

// Change your motor directions to suit your robot.
frontLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
backLeftMotor.setDirection(DcMotorSimple.Direction.REVERSE);
frontRightMotor.setDirection(DcMotorSimple.Direction.FORWARD);
backRightMotor.setDirection(DcMotorSimple.Direction.FORWARD);

// Skip this if you are only using two motors.
leftMotors = new MotorGroup(frontLeftMotor, backLeftMotor);
rightMotors = new MotorGroup(frontRightMotor, backRightMotor);
private MotorGroup leftMotors = new MotorGroup(frontLeftMotor, backLeftMotor);
private MotorGroup rightMotors = new MotorGroup(frontRightMotor, backRightMotor);
```

:::
Expand All @@ -135,14 +52,24 @@ You can run it as a tank drive:
== Kotlin

```kotlin
driverControlled = DifferentialTankDriverControlled(leftMotors, rightMotors, gamepadManager.gamepad1)
driverControlled = DifferentialTankDriverControlled(
leftMotors,
rightMotors,
Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.rightStickY
)
driverControlled()
```

== Java

```java
driverControlled = new DifferentialTankDriverControlled(leftMotors, rightMotors, gamepadManager.gamepad1);
driverControlled = new DifferentialTankDriverControlled(
leftMotors,
rightMotors,
Gamepads.gamepad1().leftStickY(),
Gamepads.gamepad1().rightStickY()
);
driverControlled.schedule();
```

Expand All @@ -154,14 +81,24 @@ Or as an arcade drive:
== Kotlin

```kotlin
driverControlled = DifferentialArcadeDriverControlled(leftMotors, rightMotors, gamepadManager.gamepad1, false, imu)
driverControlled = DifferentialArcadeDriverControlled(
leftMotors,
rightMotors,
Gamepads.gamepad1.leftStickY,
Gamepads.gamepad1.rightStickX
)
driverControlled()
```

== Java

```java
driverControlled = new DifferentialArcadeDriverControlled(leftMotors, rightMotors, gamepadManager.gamepad1, false, imu);
driverControlled = new DifferentialArcadeDriverControlled(
leftMotors,
rightMotors,
Gamepads.gamepad1().leftStickY(),
Gamepads.gamepad1().rightStickX()
);
driverControlled.schedule();
```

Expand Down