Stage 1B Overview

Stage 1A used a simple sequential approach to controlling the kitbot. But real robots need to respond to many inputs at once, like button presses, sensor data, and vision. Command-based programming solves this by modeling robot behavior as commands (actions) triggered by triggers (events).

Key Concepts

Commands define individual robot actions (deploy the intake, index a game piece, drive based on joystick inputs). Triggers define when commands should run (controller input, sensor data reaches a certain threshold, the start of autonomous or teleop). Mechanisms represent the physical robot mechanisms that commands require and control (intake, indexer, drivetrain).

Stage 1B Goals

By the end of Stage 1B, you’ll rewrite your Stage 1A kitbot code into a command-based architecture, adding controller bindings, default commands, and simple autonomous routines.

This stage will cover the following topics:

• The Concepts of Command-Based Programming
• The Body of a Command
• Commands & Mechanisms, Part 1
• Triggers and Scheduling
• Commands and Mechanisms, Part 2
• Exercise: Kitbot Rewrite, Pt 1
• Suppliers in Command-Based
• Exercise: Kitbot Rewrite, Pt 2