RobotPy

RobotPy is a set of Python modules that allows for the development of robot code for the FIRST Robotics Competition (FRC) in Python. It provides a powerful and easy-to-use framework for controlling the robot's hardware and implementing complex autonomous and teleoperated behaviors.

Architecture Overview

graph TD
    A[Robot.py] --> B[RobotContainer]
    B --> C[Subsystems]
    B --> D[Commands]
    B --> E[Controller Bindings]
    
    C --> C1[Drivetrain]
    C --> C2[Intake]
    C --> C3[Shooter]
    C --> C4[Elevator]
    
    D --> D1[Default Commands]
    D --> D2[Autonomous Sequences]
    D --> D3[Command Groups]
    
    C1 --> H1[Motor Controllers]
    C1 --> H2[Encoders]
    C1 --> H3[Gyro]
    
    subgraph Telemetry
      T1[NetworkTables]
      T2[AdvantageScope]
      T3[Elastic]
    end
    
    C --> T1
    D --> T1

Key concepts covered in this section:

• Command-Based Programming: organizing behaviors via composable commands
• Subsystems: hardware abstraction with periodic updates and state
• Controllers: PID, Bang-Bang, Ramsete, profiled controllers
• Path Following: PathPlanner integration and trajectory tracking
• Telemetry and Logging: AdvantageScope, Elastic dashboards

See also:

• Robot file structure
• Subsystems
• Commands
• Controllers
• NetworkTables
• PathPlanner

This project uses pipenv for dependency management and black/prettier for formatting. See the Tools section.

For comprehensive reference, visit the official RobotPy docs: https://robotpy.readthedocs.io/