FRC Coding Tutorials

Last change: Sep 22, 2026

Note

This project is under active development. If you have any questions, feel free to contact me (falvear@sluh.org).

Contents:

• Basic Drivetrain
  • The TimedRobot Skeleton
  • Simple Drivetrain
  • A More Efficient Drivetrain
  • See more
• Basic Auto
  • Basic Auto
  • See more
• Command-Based Programming: Intake Example
  • Command-Based Programming: Intake Example
    • Why Command-Based?
    • The Intake Example
    • Subsystem Design
    • Command Design
    • Deploy Intake Command (Arm Only)
    • Run Rollers Command
    • Combining Commands
    • Controller Binding
    • Subsystem Requirements
    • Key Takeaways
    • Comparison to Time-Based Programming
    • Next Steps

Planned entries:

• Velocity and Position Control
• Coding Sensors
• Command-Based Coding
• Coding Swerve Drives
• Vision and AprilTags

Useful links

• WPILib Website
• Wiring a Robot
• REVLib Examples
• Phoenix6 Examples
• YAGSL: Yet Another Generic Swerve Library
• Controls Engineering in FRC
• FRC 0 to Autonomous (YouTube)