Gray Matter Coding Workshop
Quick Note
All underlined text and images of code or products link to resources.
Before You Begin
This workshop requires specific software and hardware. Review prerequisites before you start.
Why Are We Here?
Learn FRC's Best Programming Practices
Learn the coding patterns, command-based architecture, and development workflows that successful FRC teams use.
Build Robots That Hold Up at Competition
Develop reliable, maintainable code that performs under pressure and helps your team succeed at districts, regionals, and FIRST Championship.
Target Audience & Goals
Who This Workshop Is For
This workshop is for FRC teams using Java and CTRE hardware.
What You'll Learn
- • Code architecture and best practices
- • Subsystem structure and organization
- • Command-based programming framework
- • PID tuning techniques
- • Library and framework usage
- • Hardware integration with CTRE devices
- • Motion profiling and control
- • Real-world competition implementation
Our Mission
Team 5712, Hemlock's Gray Matter, built this site with support from its friends. It covers introductory through advanced topics with a clear plan for learning and implementing each one.
Choose Your Workshop
1
Workshop #1
Fundamentals of FRC programming with the command-based framework, subsystems, and PID control.
Hardware Setup→
Project Setup→
Command System→
Mechanisms→
Commands→
Triggers→
Run Program→
Mechanism→
PID Control→
Motion Magic→
2
Workshop #2
Advanced topics including swerve drive, vision systems, autonomous driving to a pose, and data logging.
Swerve Prereqs→
Swerve Project→
Autonomous: Driving to a Pose→
Odom Calib→
Log Options→
Logging Setup→
Drive to Point→
Vision Options→
Vision Setup→
Odom Shot→