Working with Java Command Based

Welcome to this tutorial on using Java Command Based with WPILIB. In this project, you will attempt to drive a motor to a desired position using Feedforward and PID.

Get Started

Go to src/main/java/frc/robot. You should see the following contents:

1. Main.java - This is the entry point for the code. You should not need to modify this.
2. Robot.java - The RoboRio is inherently time-based, running the periodic functions every 20 ms or so. Using the CommandScheduler, we abstract the periodic nature away and work solely with Commands. You should not need to modify this.
3. RobotContainer.java - This class captures your entire robot.
4. subsystem folder - Open subsystem/Motor.java and fill in the required fields.

You will need to refer to WPILIB Commands and MotionMagic documentation.