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% Document Info
\author{turback}
\pdfinfo{
  /Title (frc-java-basics.pdf)
  /Creator (Cheatography)
  /Author (turback)
  /Subject (FRC Java Basics Cheat Sheet)
}

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\fancyhead[L]{
\noindent
\begin{multicols}{3}
\begin{tabulary}{5.8cm}{C}
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    \vspace{-7pt}
    {\parbox{\dimexpr\textwidth-2\fboxsep\relax}{\noindent
        \hspace*{-6pt}\includegraphics[width=5.8cm]{/web/www.cheatography.com/public/images/cheatography_logo.pdf}}
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\begin{tabulary}{11cm}{L}
    \vspace{-2pt}\large{\bf{\textcolor{DarkBackground}{\textrm{FRC Java Basics Cheat Sheet}}}} \\
    \normalsize{by \textcolor{DarkBackground}{turback} via \textcolor{DarkBackground}{\uline{cheatography.com/210084/cs/45291/}}}
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\noindent
\begin{multicols}{3}
\begin{tabulary}{5.8cm}{LL}
  \SetRowColor{FootBackground}
  \mymulticolumn{2}{p{5.377cm}}{\bf\textcolor{white}{Cheatographer}}  \\
  \vspace{-2pt}turback \\
  \uline{cheatography.com/turback} \\
  \end{tabulary}
\vfill
\columnbreak
\begin{tabulary}{5.8cm}{L}
  \SetRowColor{FootBackground}
  \mymulticolumn{1}{p{5.377cm}}{\bf\textcolor{white}{Cheat Sheet}}  \\
   \vspace{-2pt}Not Yet Published.\\
   Updated 18th December, 2024.\\
   Page {\thepage} of \pageref{LastPage}.
\end{tabulary}
\vfill
\columnbreak
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  \mymulticolumn{1}{p{5.377cm}}{\bf\textcolor{white}{Sponsor}}  \\
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  \vspace{-5pt}
  %\includegraphics[width=48px,height=48px]{dave.jpeg}
  Measure your website readability!\\
  www.readability-score.com
\end{tabulary}
\end{multicols}}




\begin{document}
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\begin{tabularx}{17.67cm}{x{6.9167 cm} x{6.9167 cm} x{3.0366 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{3}{x{17.67cm}}{\bf\textcolor{white}{Common Device Classes}}  \tn
% Row 0
\SetRowColor{LightBackground}
Talon SRX & \seqsplit{com.ctre.phoenix.motorcontrol.can.WPI\_TalonSRX} & CTRE \seqsplit{(Phoenix} V5) \tn 
% Row Count 3 (+ 3)
% Row 1
\SetRowColor{white}
Victor SPX & \seqsplit{com.ctre.phoenix.motorcontrol.can.WPI\_VictorSPX} & CTRE \seqsplit{(Phoenix} V5) \tn 
% Row Count 6 (+ 3)
% Row 2
\SetRowColor{LightBackground}
Talon FX & \seqsplit{com.ctre.phoenix6.hardware.TalonFX} & CTRE \seqsplit{(Phoenix} V6) \tn 
% Row Count 9 (+ 3)
% Row 3
\SetRowColor{white}
Pigeon 2 & \seqsplit{com.ctre.phoenix6.hardware.Pigeon2} & CTRE \seqsplit{(Phoenix} V6) \tn 
% Row Count 12 (+ 3)
% Row 4
\SetRowColor{LightBackground}
CAN Coder & \seqsplit{com.ctre.phoenix6.hardware.CANCoder} & CTRE \seqsplit{(Phoenix} V6) \tn 
% Row Count 15 (+ 3)
% Row 5
\SetRowColor{white}
Spark MAX & \seqsplit{com.revrobotics.CANSparkMax} & REV \seqsplit{(REVLib)} \tn 
% Row Count 17 (+ 2)
% Row 6
\SetRowColor{LightBackground}
Spark Flex & \seqsplit{com.revrobotics.CANSparkFlex} & REV \seqsplit{(REVLib)} \tn 
% Row Count 19 (+ 2)
% Row 7
\SetRowColor{white}
Through-Bore Encoder (RoboRIO, Absolute) & \seqsplit{edu.wpi.first.wpilibj.DutyCycleEncoder} & WPILib \tn 
% Row Count 22 (+ 3)
% Row 8
\SetRowColor{LightBackground}
Through-Bore Encoder (RoboRIO, Relative) & \seqsplit{edu.wpi.first.wpilibj.Encoder} & WPILib \tn 
% Row Count 25 (+ 3)
\hhline{>{\arrayrulecolor{DarkBackground}}---}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Motor Basic Control (Talon SRX)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private WPI\_TalonSRX motor; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{WPI\_TalonSRX(RobotMap.MOTOR\_IDENTIFIER);} \newline     \seqsplit{motor.configFactoryDefault();} // factory default \newline \} \newline  \newline @Override \newline public void teleopInit() \{ \newline     motor.set(0.5); \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline  \newline \} \newline  \newline @Override \newline public void teleopExit() \{ \newline     motor.stopMotor() \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Motor Basic Control (Spark MAX)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private CANSparkMax motor; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{CANSparkMax(RobotMap.MOTOR\_IDENTIFIER}, \seqsplit{CANSparkLowLevel.MotorType.kBrushless);} \newline     \seqsplit{motor.restoreFactoryDefaults();} // factory default \newline \} \newline  \newline @Override \newline public void teleopInit() \{ \newline     motor.set(0.5); \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline  \newline \} \newline  \newline @Override \newline public void teleopExit() \{ \newline     motor.stopMotor() \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Motor Basic Control (Talon FX)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private TalonFX motor; \newline private DutyCycleOut dutyCycleControl; \newline private NeutralOut neutralControl; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{TalonFX(RobotMap.MOTOR\_IDENTIFIER);} \newline     \seqsplit{motor.getConfigurator().apply(new} TalonFXConfiguration()); // factory default \newline  \newline     dutyCycleControl = new DutyCycleOut(0); \newline     neutralControl = new NeutralOut(); \newline \} \newline  \newline @Override \newline public void teleopInit() \{ \newline     \seqsplit{motor.setControl(dutyCycleControl.withOutput(0.5));} \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline  \newline \} \newline  \newline @Override \newline public void teleopExit() \{ \newline     \seqsplit{motor.setControl(neutralControl);} \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Encoder Access (Talon SRX, SRX Encoder)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private static final int PPR = 4096; \newline private static final double \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO} = 8.0 / 1.0; // driver : driven \newline  \newline private WPI\_TalonSRX motor; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{WPI\_TalonSRX(RobotMap.MOTOR\_IDENTIFIER);} \newline     \seqsplit{motor.configFactoryDefault();} // factory default \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline     double counts = \seqsplit{motor.getSelectedSensorPosition();} \newline     double mechanismRotations = counts / PPR / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO;} \newline  \newline     double countsPer100ms = \seqsplit{motor.getSelectedSensorVelocity();} \newline     double mechanismRpm = countsPer100ms / PPR * 600.0 / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO;} \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Encoder Access (Spark Max, NEO Integrated Encoder)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private static final double \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO} = 8.0 / 1.0; // driver : driven \newline  \newline private CANSparkMax motor; \newline private RelativeEncoder encoder; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{CANSparkMax(RobotMap.MOTOR\_IDENTIFIER}, \seqsplit{CANSparkLowLevel.MotorType.kBrushless);} \newline     \seqsplit{motor.restoreFactoryDefaults();} // factory default \newline  \newline     encoder = motor.getEncoder(); \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline     double motorRotations = encoder.getPosition(); \newline     double mechanismRotations = motorRotations / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO;} \newline  \newline     double motorRpm = encoder.getVelocity(); \newline     double mechanismRpm = motorRpm / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO;} \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Encoder Access (Spark Max, NEO Integrated Encoder)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private static final double \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO} = 8.0 / 1.0; // driver : driven \newline  \newline private CANSparkMax motor; \newline private RelativeEncoder encoder; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{CANSparkMax(RobotMap.MOTOR\_IDENTIFIER}, \seqsplit{CANSparkLowLevel.MotorType.kBrushless);} \newline     \seqsplit{motor.restoreFactoryDefaults();} // factory default \newline  \newline     encoder = motor.getEncoder(); \newline     \seqsplit{encoder.setPositionConversionFactor(1} / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO);} \newline     \seqsplit{encoder.setVelocityConversionFactor(1} / \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO);} \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline     double mechanismRotations = encoder.getPosition(); \newline     double mechanismRpm = encoder.getVelocity();  \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Encoder Access (Talon FX, Integrated Encoder)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private static final double \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO} = 8.0 / 1.0; // driver : driven \newline  \newline private TalonFX motor; \newline private StatusSignal\textless{}Double\textgreater{} positionSignal; \newline private StatusSignal\textless{}Double\textgreater{} velocitySignal; \newline  \newline @Override \newline public void robotInit() \{ \newline     motor = new \seqsplit{TalonFX(RobotMap.MOTOR\_IDENTIFIER);} \newline  \newline     TalonFXConfiguration configuration = new TalonFXConfiguration(); \newline     \seqsplit{configuration.Feedback.FeedbackSensorSource} = \seqsplit{FeedbackSensorSourceValue}.RotorSensor; \newline     \seqsplit{configuration.Feedback.SensorToMechanismRatio} = \seqsplit{MOTOR\_TO\_MECHANISM\_GEAR\_RATIO;} \newline     \seqsplit{motor.getConfigurator().apply(configuration);} \newline  \newline     positionSignal = motor.getPosition(); \newline     velocitySignal = motor.getVelocity(); \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline     \seqsplit{BaseStatusSignal.refreshAll(positionSignal}, velocitySignal); // only once per 20ms loop, typically in periodic \newline  \newline     double mechanismRotations = \seqsplit{positionSIgnal.getValueAsDouble();} \newline     double \seqsplit{mechanismRotationsPerSecond} = \seqsplit{velocitySignal.getValueAsDouble();} \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{17.67cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{17.67cm}}{\bf\textcolor{white}{Encoder Access (CANCoder, Absolute)}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{17.67cm}}{private CANCoder encoder; \newline private StatusSignal\textless{}Double\textgreater{} absPositionSignal; \newline  \newline @Override \newline public void robotInit() \{ \newline     encoder = new \seqsplit{CANCoder(RobotMap.ENCODER);} \newline  \newline     CANcoderConfiguration configuration = new CANcoderConfiguration(); \newline     \seqsplit{configuration.MagnetSensor.AbsoluteSensorRange} = \seqsplit{AbsoluteSensorRangeValue.Unsigned\_0To1;} \newline     \seqsplit{encoder.getConfigurator().apply(configuration);} \newline  \newline     absPositionSignal = \seqsplit{motor.getAbsolutePosition();} \newline \} \newline  \newline @Override \newline public void teleopPeriodic() \{ \newline     \seqsplit{BaseStatusSignal.refreshAll(absPositionSignal);} // only once per 20ms loop, typically in periodic \newline  \newline     // typically absolute encoders are placed on the shaft after a gearbox, so gearbox ratio handling isn't needed here. \newline     double mechanismRotationAbs = \seqsplit{absPositionSignal.getValueAsDouble();} // {[}0, 1{]} -\textgreater{} {[}0, 360{]} \newline \}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}



\end{document}