README.md

Romi Advanced Tutorial w/ WPILib

This tutorial provides step by step instructions on how to do WPILib based programming of the Romi Robot Kit. It covers topics including AdvantageKit integration, running SysId, adding Odometry/Kinematics, leveraging Pathplanner, and using PhotonVision. Once completed, you should have a Romi setup that can be used to experiment and test code that could run on an actual FRC Robot.

Getting Started - What you need to get started with the Romi

Code Formatting - How to setup and use tools to automatically format code in a uniform manner

Joysticks - How to add support for different controllers

Telemetry - How to gathering data from the robot to aid in testing and debug

Robot Characterization - How to model the unique physical characteristics of your robot

Control Systems - How to use Feedforward and PID Loops to make the robot behavior more deterministic

Odometry - How to keep track and display where the robot thinks it is

Kinematics - How to convert universal speed/rotation values to meaningful wheel speeds

Path Planning - How to have the robot follow a specific trajectory

Vision Processing - How to use cameras and vision processing on the robot

Code Documentation - How to use javadoc to document the code

Troubleshooting - Common issues and tips & tricks on using the Romi