Welcome to the Beak Squad Programming Manual!

The Beak Squad Programming Manual (informally known as “Carson Professor”) is a complete Java, WPILib, and BeakLib how-to, from basic motor control to complete PID, command, and advanced-control robots.

Note

This manual is currently early in development.

Contents

• Section 0: WPILib & Vendor installation
  • WPILib
  • CTRE
  • REV
  • NI FRC Game Tools
• Section 1: Creating a Project
  • Creating a Project
• Section 2: Your First Motor
  • Running Your First Motor
• Section 3: Servos & Solenoids
  • What are Servos & Solenoids?
  • Servos in Code
  • Solenoids in Code
  • Double Solenoids in Code
• Section 4: Controllers
  • Basic Setup
  • Setup in Code
  • Usage
• Section 5: Encoders
• Section 6: Control - Limits & Sensing
• Section 7: Subsystems
• Section 8: Commands
• Section 9: Dashboards & Debugging
• Section 10: Cameras
• Section 11: PID Control

Electrical

• The Basics of Wiring & Electronics
• Batteries

WPILib Resources

• WPILib Java API Docs
• frc-docs
• Zero-to-Robot
• RoboRIO & Radio Setup
• General Wiring Guide
• Control System Basics
• WPILib & NI Software Overview
• Hardware & Electrical Basics
• Sensors
• Pneumatics
• Git VCS Intro

BeakLib

• BeakLib