Creating Autonomous Commands

As you might know, in the first 15 seconds of an FRC match, the robot is in Autonomous mode, where the robot will move completely on its own, relying on its code and subsystems. Points scored in Autonomous mode are worth much more than in the other stages of an FRC match, making it extremely important to perform well in this mode.

For this tutorial we'll just make a simple command that makes the robot move forward. To do this, we just simply make the robot move in a straight line for a set distance using the moveDistance() method in XRPDrivetrain.

To do this, we will use Encoders, which are covered in the next page. After that, we will show you PID Control and the robot's built in Gyroscope to help you make more complex autonomous commands.