---
# System prepended metadata

title: FRC robot note

---

## Command Group
### SequentialCommandGroup
(Command1, Command2) 1執行完執行2 指令依序執行

### ParallelCommandGroup
(Command1, Command2) 1&2同時執行

### ParallelRaceGroup
(Command1, Command2) 1&2同時執行 其中一個執行完終止全部指令

## Neo Motor Config
setIdleMode(IdleMode.kBrake) Stop後鎖死
setIdleMode(IdleMode.kCoast) Stop後慣性往前

setSmartCurrentLimit(limit) 限制最大電壓

## CIM Motor Config
setNeutralMode(NeutralMode.Brake) Stop後鎖死
setNeutralMode(NeutralMode.Coast) Stop後慣性往前

set(ControlMode.PercentOutput, value)
`ControlMode.PercentOutput`-> 輸出-1~1

### RobotContainer.java
```
private void configureBindings() {
  driverJoystick.buttonName.whileTrue(Command); 
}
```
## Library
### NavX2
https://dev.studica.com/releases/2023/NavX.json
### REVLib
https://software-metadata.revrobotics.com/REVLib-2023.json
### Phoenix
https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json

## Swerve
Track_Width = 0.62
Wheel_Bace = 0.62
Wheel_Radius = 0.0508
Gear_Ratio = 57.0 / 7.0