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Quick Start

New to RW-Template? Do these in order. You only edit files in the custom/ folder.

  1. Ports: in custom/src/robot-config.cpp, set each motor and sensor to its port (a new device also needs a line in custom/include/robot-config.h). Reverse drive motors as needed so driveChassis(12, 12) drives forward. X-drive, mecanum or H-drive? Set it up as in Drive Types, which also covers its measurements
  2. Measurements: set distance_between_wheels and wheel_distance_in (see Tuning Your Robot)
  3. Driver control: download the program, run it, and drive. Tank drive is the default
  4. First auton: pick Tuning Test on the Brain screen and run autonomous (with a competition switch, field control, or Timed Run). It drives 60" and turns. Tune the PID constants until it stops on target
  5. Your autons: write a routine in custom/src/autonomous.cpp, declare it in custom/include/autonomous.h, and add it to the selector with addAuton() in custom/src/user.cpp. Which motion should I use? has the options
  6. Optional: try routines in the simulator before running them on the robot

This is what Tuning Test looks like in the simulator: