Motors and Drivetrains

In this training module, we will explore the various motors and drivetrains commonly used in FRC robots. We will also cover how to control these motors through programming in Java using WPILib.

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Presentation

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Exercises

Motors

• Spin a brushed motor using a motor controller and a joystick from your own code.

Drivetrains

• Set up a leader and a follower motor controller configuration in code.
• Move motors on both sides of a tank drive drivetrain to drive forward, backward, and turn.
  • For an extra challenge, try to implement arcade drive controls!

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Related Documentation

Hardware

• Motor Controllers: Overview of the motor controllers we use on our robots.

Hardware Interfacing

• Hardware Configurators: Guide on how to configure hardware components in the FRC ecosystem.

Software Tools

• VSCode: Our primary Integrated Development Environment (IDE) for programming.
• Driver Station: Software used to control and monitor the robot during competitions.