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2 changes: 1 addition & 1 deletion examples/build.gradle
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Expand Up @@ -16,7 +16,7 @@ spotless {
java {
target fileTree(rootDir) {
include "**/*.java"
exclude "**/build/**", "**/.gradle/**", "stage0/snippets/**"
exclude "**/build/**", "**/.gradle/**", "stage0/snippets/**", "stage1/snippets/**"
}
licenseHeaderFile rootProject.file('gradle/LICENSE_HEADER')
}
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17 changes: 17 additions & 0 deletions examples/stage1/snippets/Main.java
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/*
* Copyright 2026 FRCSoftware
*
* SPDX-License-Identifier: BSD-3-Clause
*/

// [main]
import org.wpilib.framework.RobotBase;

public final class Main {
private Main() {}

public static void main(String... args) {
RobotBase.startRobot(first.robot.Robot.class);
}
}
// [/main]
29 changes: 23 additions & 6 deletions src/config/sidebarConfig.ts
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Expand Up @@ -92,19 +92,36 @@ export const sidebarSections: Record<string, SidebarSection[]> = {
label: 'Stage 1',
collapsed: true,
items: [
// {
// label: 'Stage 1 Introduction',
// slug: 'learning-course/stage-1a-commands/overview',
// },
{
label: 'Stage 1A: TBD',
label: 'Stage 1 Introduction',
slug: 'learning-course/stage1/stage-overview',
},
{
label: 'Stage 1A',
collapsed: true,
items: [],
items: [
{
label: 'Stage 1A Introduction',
slug: 'learning-course/stage1/stage1a/stage-overview',
},
// {
// label: 'TBD',
// slug: 'stage-1a-commands/the-command-body',
// },
// {
// label: 'TBD',
// slug: 'stage-1a-commands/commands-and-mechanisms',
// },
],
},
{
label: 'Stage 1B: Commands',
collapsed: true,
items: [
{
label: 'Stage 1B Introduction',
slug: 'learning-course/stage1/stage1b/stage-overview',
},
{
label: 'The Concepts',
slug: 'learning-course/stage1/stage1b/command-based-overview',
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24 changes: 24 additions & 0 deletions src/content/docs/learning-course/stage1/stage-overview.mdx
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reniejoshi marked this conversation as resolved.
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---
title: Stage 1 Overview
description: An overview of Stage 1
prev: false
next: stage-1a/stage-overview
---

Congratulations! Whether you already know Java, have programmed an FRC robot before,
or are a complete beginner, you should have a good grasp of the basic syntax of the Java language by now.
In Stage 1, we'll be moving on to the exciting part: actually writing code for a robot!
It might seem daunting at first, but the best way to think through it is to focus on understanding
how each individual component of the code works, instead of trying to tackle it all at once.

This stage covers how to fully program a working kitbot for the 2026 FIRST Robotics Competition game,
REBUILT.
You'll start at stage 1A, which covers a simple way to code the kitbot.
Then, you'll move on to stage 1B, which uses a slightly more complex paradigm known as commands.
In addition, you'll also get to debug your robot in a simulation, to check if your code works!
Feel free to play around with the robot and control it in sim once you've finished!

This stage is composed of the following sub-stages:

- <a href="../stage-1a/stage-overview">Stage 1A</a>
- <a href="#">WIP</a>
119 changes: 119 additions & 0 deletions src/content/docs/learning-course/stage1/stage1a/stage-overview.mdx
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---
title: Stage 1A Overview
description: An overview of Stage 1A
prev: ../stage-overview
next: false
---

import YouTube from '../../../../../components/YouTube.astro';

Now, before we get into the depths of the robot code, it's useful to look at a high-level overview of the contents of a
typical WPILib project.
As your code gets more advanced, you'll see more folders and files appear, but they're all controlled
by the same basic components.
Below, you can see the sample file structure you'll be starting off with as a template for Stage 1A.
If your robot has REV electronics, then the template folder's name will be `rev/` instead of `ctre/`

### Stage 1A Template Structure

{/* rli:ignore */}

```text
ctre/
├── src/main/
| ├── java/first/
| | ├── robot/
| | | ├── opmode/
| | | | ├── MyAuto.java
| | | | ├── MyTeleop.Java
| | | ├── simulation/
| | | | ├── DrivetrainSim.Java
| | | | ├── SingleFlywheelSim.java
| | | ├── Robot.java
| | ├── Main.java
```

You'll notice that we're skipping a lot of files here, because you don't have to edit those.
What's great about about using a framework
like WPILib is that it automatically generates these files when you create a new project, so you can get started coding quicker.
The other folders, like `src/main/deploy/` for example, will come in handy as your robot code becomes more advanced.
Thus, the only files shown above are the ones directly responsible for controlling what our kitbot will do.

<Aside type="note">
For those who have programmed in FRC before, WPILib is currently undergoing
a massive rewrite for the 2027 version, especially with regards to OpModes
and Commands V3, so some files and components may be completely new!
</Aside>

### `Main.java`

The first file to take note of is the `Main.java` file; this is the entrypoint for any Java project in real life.
Its contents are pretty short and sweet (comments and package declaration removed for brevity):

```java stage1/snippets/Main.java#main

```

You can see that all the `Main.java` file is doing is, quite literally, starting up the robot,
so there's really no reason to edit this file for now.

<Aside type="note">
Notice that the names of all Java files in the project are capitalized. This
is a convention you should follow throughout your code.
</Aside>

### `Robot.java`

But what is that one line in `Main.java` doing?
{/* rli:ignore */}

```java
RobotBase.startRobot(first.robot.Robot.class);
```

It seems to be "starting" an instance of the `first.robot.Robot` class, and if we go to that class file, we end up at `Robot.java`.
This is the core of your robot code, where:

- your subsystems are defined
- your controls are binded
- your opmodes are modified and used
- your debugging data is logged (aka telemetry).

<Aside type="note">
For prior FRC programmers, you might have noticed a `RobotContainer.java`
file is missing. This file is being removed in WPILib 2027.
</Aside>

We'll go through this file, as well as all of the above functionalities, more in detail later.

### `opmode/`

For those who are used to WPILib 2026 and earlier versions, this will probably be the most significant change.
In WPILib 2027 and later versions, robot frameworks are getting a new way to control the current "mode" of the robot: OpModes.
We'll talk about this a bit more in-depth later, but they essentially allow you to define various "states" for a robot during
autonomous and teleop, which can then be set directly through the FIRST Driver Station.
This would be useful, for example,
when picking what autonomous routine to run without having to push a different version of the code for every single match.
WPILib 2027 decouples many of the functions that used to be in `Robot.java` and moves them to separate files for autonomous
and teleop periods, making it easier to differentiate what functionalities the robot has during each stage of the match.

### `simulation/`

These are the files that control simulation of the robot, allowing you to test code without actually having a physical robot in front of you.
We've set this up for you already; you'll just have to set up the simulation software yourself, which we'll cover at the end of Stage 1A.

### The 2026 Kitbot

But what is all this code actually going to control? Well, the answer is the 2026 FIRST Robotics Competition kitbot, the best starting point
for new FRC teams, as well as the simplest robot to get fully working.
You can watch the below video to learn more about what functionalities the kitbot has.
If you're a bit confused after watching that video, don't worry.
We'll explain the kitbot more in depth in the next section.

<YouTube url="https://www.youtube.com/watch?v=nTmZXOgHntM" />

And that's all you need to know to get started! The rest of Stage 1A will cover how to get from the template code to a working kitbot.

This stage will cover the following topics:

- <a href="#">WIP</a>
29 changes: 29 additions & 0 deletions src/content/docs/learning-course/stage1/stage1b/stage-overview.mdx
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---
title: Stage 1B Overview
description: An overview of Stage 1B
---

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](https://frcsoftware.org/learning-course/stage1/stage1b/command-based-overview/)
- [The Body of a Command](https://frcsoftware.org/learning-course/stage1/stage1b/the-command-body/)
- [Commands & Mechanisms, Part 1](https://frcsoftware.org/learning-course/stage1/stage1b/commands-and-mechanisms/)
- [Triggers and Scheduling](https://frcsoftware.org/learning-course/stage1/stage1b/triggers/)
- [Commands and Mechanisms, Part 2](https://frcsoftware.org/learning-course/stage1/stage1b/commands-and-mechanisms-pt2/)
- [Exercise: Kitbot Rewrite, Pt 1](https://frcsoftware.org/learning-course/stage1/stage1b/command-based-kitbot/)
- [Suppliers in Command-Based](https://frcsoftware.org/learning-course/stage1/stage1b/suppliers-in-command-based/)
- [Exercise: Kitbot Rewrite, Pt 2](https://frcsoftware.org/learning-course/stage1/stage1b/command-based-kitbot-pt2/)
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