Software Programming Guide

Before programming your robot, you need to ensure all SPARK MAX motor controllers have the latest firmware.

Installation Steps:

1. Download REV Hardware Client

   Visit the REV Robotics website and download the latest version of REV Hardware Client for Windows.

   REV Hardware Client Download
2. Connect SPARK MAX via USB-C

   Connect your SPARK MAX to your computer using a USB-C cable. The device should appear in REV Hardware Client.

3. Update Firmware

   In REV Hardware Client, select your SPARK MAX and click 'Update Firmware'. For 2025, use firmware version 25.0.1 or later.

4. Factory Reset & Persist Parameters

   After updating to firmware 25.x for the first time, perform a Factory Reset, then click 'Persist Parameters'.

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Each device on the CAN bus must have a unique ID. By default, SPARK MAX controllers come with ID 0, which must be changed.

Setting Device IDs:

1. Open REV Hardware Client

   Connect your SPARK MAX via USB-C as in Step 1.

2. Change CAN ID

   In the 'Basic' tab, find the 'CAN ID' field. Set it to a unique number between 1-62. Common practice is to use sequential IDs (1, 2, 3...) for each motor controller.

3. Label Your Devices

   Use a label maker or tape to physically mark each SPARK MAX with its assigned CAN ID. This makes troubleshooting much easier!

4. Document Your IDs

   Create a spreadsheet or document listing which motor (left drive, right drive, intake, etc.) uses which CAN ID.

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WPILib is the official software library for FRC. It includes everything you need to program your robot: VS Code, Java/C++ development tools, and robot utilities.

System Requirements:

• Windows 10 or 11 (64-bit)
• macOS 12 or later
• Ubuntu 22.04 or 24.04 (64-bit)
• At least 4GB RAM (8GB recommended)

Installation Steps:

1. Download WPILib

   Go to the official WPILib releases page and download the latest installer for your operating system (WPILib 2025.3.2 or newer).

   WPILib Downloads
2. Run the Installer

   Extract and run the installer. Choose 'Install for this User' and select a location (default is recommended).

3. Download VS Code Extensions

   The installer will download WPILib VS Code (separate from any existing VS Code installation) and all necessary extensions.

4. Launch WPILib VS Code

   After installation, launch 'WPILib VS Code 2025' (not regular VS Code). You should see the WPILib icon in the top right corner.

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FRC Game Tools include the Driver Station and imaging tools needed to operate your robot. This is only required on Windows machines used to drive the robot.

Installation Steps:

1. Download from National Instruments

   Visit the FIRST website to get the download link for FRC Game Tools. You'll need to create a free NI account.

   FRC Game Tools Guide
2. Run the Installer

   Extract the downloaded files and run the setup. Install all components including Driver Station and roboRIO Imaging Tool.

3. License Activation

   When prompted, activate with the free license key provided on the FIRST website using your team number.

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Now that everything is installed, let's create your first robot project using the Command-Based framework.

Creating a Project:

1. Open WPILib VS Code

   Launch WPILib VS Code 2025 from your applications.

2. Create New Project

   Press Ctrl+Shift+P (Cmd+Shift+P on Mac) and type 'WPILib: Create a new project'. Select it.

3. Configure Project Settings
   • Select 'Template' → 'Java' → 'Command Robot'
   • Set your project folder location
   • Enter your team number (e.g., 9236)
   • Give your project a name (e.g., 'MyFirstRobot')
4. Generate Project

   Click 'Generate Project'. VS Code will create the project structure and open it.

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Let's create a simple drivetrain subsystem and command to control your robot with a joystick.

Creating a Drivetrain Subsystem:

1. Create Drivetrain.java

   In the subsystems folder, create a new file called Drivetrain.java

2. Add SPARK MAX Controllers

   Import REVLib and create SPARK MAX objects with the CAN IDs you configured in Step 2:

   import com.revrobotics.spark.SparkMax;
   import com.revrobotics.spark.SparkLowLevel.MotorType;
   
   private final SparkMax leftMotor = new SparkMax(1, MotorType.kBrushless);
   private final SparkMax rightMotor = new SparkMax(2, MotorType.kBrushless);

3. Create Drive Method

   Add a method to control the motors:

   public void arcadeDrive(double speed, double rotation) {
       leftMotor.set(speed + rotation);
       rightMotor.set(speed - rotation);
   }

4. Create Drive Command

   In RobotContainer.java, bind the joystick to drive the robot:

   drivetrain.setDefaultCommand(
       new RunCommand(
           () -> drivetrain.arcadeDrive(
               -controller.getLeftY(),
               controller.getRightX()
           ),
           drivetrain
       )
   );

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Now it's time to deploy your code to the actual robot!

Deployment Steps:

1. Connect to Robot

   Connect your computer to the robot's radio/router via Ethernet or WiFi. The robot should be powered on.

2. Build the Code

   Press Ctrl+Shift+P and select 'WPILib: Build Robot Code'. Make sure there are no errors.

3. Deploy to Robot

   Press Ctrl+Shift+P and select 'WPILib: Deploy Robot Code'. The code will compile and upload to the roboRIO.

4. Test with Driver Station

   Open FRC Driver Station, connect your joystick, enable the robot, and test your drive code!

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