Programming motors
Programming motors is the most fundamental programming task in FIRST, as motors control all robot movement. Motors are typically hooked up to motor controllers, which allow programmatic control of motor speed and direction.
You should have already followed the Installing programs articles at this point. If not, go back to Home and do those first. If you skipped installing the CTRE Phoenix library, make sure you go back and do that now.
First, determine what subsystem you're working in. If you're adding a new component to the robot, create a new subsystem.
We have a couple different flavors of motor controllers. Make sure you know which one you're programming for before you get started.
Programming the Talon SRX
Start by doing import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;, then define the motor controller by typing private static WPI_TalonSRX MOTORNAME = new WPI_TalonSRX(PORT); at the top of the subsystem's class, where MOTORNAME is what you want to name the motor and PORT is the port that the motor is connected to. (For PORT, it's best to store this value as a constant.)
Set the speed of the motor by using MOTORNAME.set(SPEED), where NAME is the name of the motor and SPEED is a double-type value between -1 and 1.
Programming the Talon FX
Start by doing import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;, then define the motor controller by typing private static WPI_TalonFX MOTORNAME = new WPI_TalonFX(PORT); at the top of the subsystem's class, where MOTORNAME is what you want to name the motor and PORT is the port that the motor is connected to. (For PORT, it's best to store this value as a constant.)
Set the speed of the motor by using MOTORNAME.set(SPEED), where NAME is the name of the motor and SPEED is a double-type value between -1 and 1.
If you need to rotate the motor a specific amount, use setSelectedSensorPosition(getSelectedSensorPosition() + (ANGLE / 360 * Constants.ENCODER_TICKS_PER_REVOLUTION), 0, TIMEOUT); where ANGLE is the amount of degrees to turn the motor and TIMEOUT is the number of milliseconds for stall detection. You can use this with a try-catch to detect if it takes longer than this, as it will throw an error.
Programming the Victor SPX
Start by doing import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;, then define the motor controller by typing private static WPI_VictorSPX MOTORNAME = new WPI_VictorSPX(PORT); at the top of the subsystem's class, where MOTORNAME is what you want to name the motor and PORT is the port that the motor is connected to. (For PORT, it's best to store this value as a constant.)
Set the speed of the motor by using MOTORNAME.set(SPEED), where NAME is the name of the motor and SPEED is a double-type value between -1 and 1.