FRC programming,
taught hands-on.

A curriculum covering command-based architecture, PID and motion profiling, swerve drive, vision, and logging. Built around a companion GitHub repository so every concept maps to real, runnable code.

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WHAT YOU’LL PROGRAM

Four mechanisms. Two workshops.

WORKSHOP 01Control fundamentals — single-motor mechanisms

ARM · POSITION CONTROL

Robot Arm

Move a single-jointed arm to specific angles using closed-loop position control with gravity compensation.

→TalonFX + integrated encoder
→PID with gravity feedforward (kG)
→Motion Magic for smooth profiling

FLYWHEEL · VELOCITY CONTROL

Shooter Flywheel

Hold a target RPM precisely for consistent shooting — velocity PID + velocity feedforward.

→Dual TalonFX, no encoder slip
→Velocity PID with kV feedforward
→Spin-up & at-speed detection

WORKSHOP 02Drive & perception — full-robot autonomy

SWERVE · HOLONOMIC DRIVE

CTR Swerve Drive

Holonomic drive with field-oriented control, real-time odometry, and trajectory following.

→8 TalonFX motors + 4 CANcoders
→DriveToPose / LinearPath path following
→Pigeon 2 IMU for heading fusion

LIMELIGHT · VISION

AprilTag Vision

Detect AprilTags, fuse vision pose with odometry, and drive autonomously to scoring positions.

→Limelight 4 with MegaTag2
→Pose estimator with vision standard deviations
→Drive-to-point autonomous routine

CTR Electronics

Phoenix 6 motor controllers, CANivore

MichAuto

Michigan automotive industry

Office of Future Mobility & Electrification

State of Michigan

Lockwood STEM Center

Hemlock Public Schools

TEAM 5712 · HEMLOCK

Joe Lockwood
Josh Bacon
Chris Bale
Alex Haltom

TEAM 5216