Programming, Controls & SensorsModule 10 of 13

Worked Examples and Mini-Projects

Nine separate modules taught you the pieces. This one bolts them together into complete, buildable projects. Each lesson is an end-to-end mini-project you can type out, deploy, and run -- a closed-loop elevator with Motion Magic, a REVLib velocity-controlled shooter, a teleop swerve drive subsystem, a PathPlanner autonomous routine, and a vision-aligned scoring sequence. Every snippet uses real vendor APIs (CTRE Phoenix 6, REVLib 2025, WPILib command-based, PathPlanner, Limelight) and real part numbers so the code compiles against the libraries your team actually installs.

Worked Examples and Mini-Projects is module 10 of 13 in the Programming, Controls & Sensors guide. It picks up where Computer Vision and Pose Estimation left off and hands over to Common Mistakes and Troubleshooting. At ~235 minutes across 5 lessons it is the longest module in the guide, which runs about 30 hours end to end.

5 lessons~235 min51 lessons in this guide

Start with lesson 1 All of Programming, Controls & Sensors

In this module

5 lessons

01Mini-Project: A Closed-Loop Elevator with Motion MagicBuild a complete elevator subsystem on a Kraken X60 (Talon FX) using Phoenix 6 Motion Magic to move smoothly between scoring heights.45 min read

02Mini-Project: A Velocity-Controlled Shooter on REVLibSpin a flywheel to a target RPM with a NEO Vortex on a SPARK Flex using REVLib 2025's declarative closed-loop config, and only fire when it is up to speed.40 min read

03Mini-Project: A Teleop Swerve Drive SubsystemAssemble a field-relative swerve drive subsystem from WPILib kinematics primitives, with desaturation and module-angle optimization.50 min read

04Mini-Project: An Autonomous Routine with PathPlannerRegister named commands, configure AutoBuilder, and build a multi-step autonomous that drives a path and triggers mechanisms at event markers.45 min read

05Mini-Project: Vision-Aligned Scoring with LimelightCombine an AprilTag-relative aim controller with a pose-estimator vision fusion to drive up to a target and score reliably.55 min read

Previous moduleComputer Vision and Pose Estimation

Next moduleCommon Mistakes and Troubleshooting

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Longer reads

Articles that go deeper on this

Choreo vs PathPlanner: Planning FRC Autonomous TrajectoriesCompare Choreo and PathPlanner for FRC autonomous trajectories: how Choreo's time-optimal solver differs from PathPlanner's GUI paths, and when to use each.12 min read

FRC Autonomous with PathPlanner: A Beginner's Guide to Auto RoutinesLearn how FRC teams build autonomous routines with PathPlanner (PPLib): paths vs autos, AutoBuilder, named commands, odometry, tuning, and Choreo.8 min read

All 13 modules in Programming, Controls & Sensors

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