Update README.md

Author: pmazumder3927

README.md

@@ -1,59 +1,102 @@
-# FRC Robot Project - Sim Skeleton
+# Assignment 2: Getting started with simulation
 
-This is an FRC robot project using WPILib 2025, AdvantageKit, and CTRE Phoenix 6.
+## Overview
+This lesson is intended to get you familiar with the basic UI and code procedures with runnng a project, as well as implementing a simple, standard trigger function on the robot's drivetrain.
 
-## Prerequisites
+This project is a standard, clean FRC repo based on our base project template. In the upcoming lessons, we will use this as a scaffold to work in, until you are eventually able to understand/code most of this yourself.
 
-- WPILib 2025 installed (includes Java JDK)
-- Visual Studio Code with WPILib extension (recommended)
+## Learning Objectives
+- Understand command-based robot programming
+- Learn how to modify drive commands with parameters
+- Use button triggers for mode switching
+- Add telemetry for debugging and visualization
+- See real-time changes in AdvantageScope
 
-## Build Instructions
+## What You'll Build
+A training mode that:
+- Toggles on/off with the a button
+- Limits robot speed to 30% when active
+- Shows status in telemetry
+- Works seamlessly with existing drive code
 
-### Windows
+## General Step-by-Step Implementation (try doing this by yourself, else follow along with the solution video)
 
-The project uses Gradle for building. The Java JDK is included with WPILib installation.
+Make sure to create a NEW BRANCH with the feature implementation and create a PR as in the last assignment.
 
-```bash
-# Set JAVA_HOME to WPILib's JDK and build
-JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build
+### Step 1: Modify the Drive Command
+First, we need to add support for variable speed to our drive command. In `DriveCommands.java`, add an overloaded drive function that accepts a new supplier. Add any logging you think may be helpful.
 
-# Or use the gradlew wrapper directly if JAVA_HOME is configured in your environment
-./gradlew build
-```
+### Step 2: Set Up the Button Trigger
+In `RobotContainer.java`, create a trigger for the training mode
+
+### Step 3: Test in Simulation
+1. Run the simulation: `WPILIB: Simlulate robot code`
+2. Open AdvantageScope and connect to the simulation
+3. Drive with the controller normally
+4. Hold the selected button and see if your driving speed changes
+5. Watch your logged fields in Advantage Scope and see if they correspond to your expectations.
+
+## How It Works
+
+### The Command Pattern
+FRC uses a command-based architecture where:
+- **Commands** define robot actions (like driving)
+- **Triggers** respond to button inputs
+- **Suppliers** provide values that can change over time
+
+### Key Concepts
+
+1. **BooleanSupplier**: A functional interface that supplies a boolean value
+   - `() -> true` always returns true
+   - `() -> controller.a()` returns true or false based on button state
+
+2. **Trigger**: Represents a button or condition
+   - `controller.a()` creates a trigger for that button
 
-### Common Build Issues and Solutions
+3. **Speed Multiplication**: Applied to all movement
+   - Translation (X/Y movement)
+   - Rotation (turning)
+   - Ensures proportional control at lower speeds
 
-#### Issue 1: JAVA_HOME not set
-**Error:** `ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH`
+## Solution
 
-**Solution:**
-- On Windows, WPILib's JDK is located at `C:\Users\Public\wpilib\2025\jdk`
-- Set JAVA_HOME before running gradlew: `JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build`
-- Or set it permanently in your system environment variables
 
-#### Issue 2: Command execution in Windows
-**Problem:** Windows command prompt and bash handle commands differently
+## Extension Challenges
 
-**Solution:**
-- Use `./gradlew` in Git Bash or WSL
-- Use `gradlew.bat` in Windows Command Prompt
-- In PowerShell, use `./gradlew` or `.\gradlew.bat`
+### Challenge 1: Multiple Speed Modes
+Add three modes: Training (30%), Normal (100%), Turbo (120%)
+```java
+// Hint: Use multiple buttons
+```
 
-### Important Notes
+### Challenge 2: Smooth Transitions
+Use a SlewRateLimiter to gradually change speeds
+```java
+SlewRateLimiter speedLimiter = new SlewRateLimiter(2.0); // 2 units/sec
+// In command: speedLimiter.calculate(targetMultiplier)
+```
 
-#### CTRE Phoenix 6 API
-When using CTRE Phoenix 6 with TalonFX (Kraken X60):
-- Status signals use typed units (Angle, AngularVelocity, Voltage, etc.) not raw doubles
-- Use `.getValue().in(Units.YourUnit)` to get numeric values
-- Current limits: Use `SupplyCurrentLimit` and `StatorCurrentLimit` (not threshold-based)
-- FOC (Field Oriented Control) is available and recommended for better performance
+### Challenge 3: Visual Feedback
+Add dashboard indicators for current mode
+```java
+Logger.recordOutput("Drive/Mode",
+    multiplier < 0.5 ? "Training" :
+    multiplier > 1.0 ? "Turbo" : "Normal");
+```
 
-Example:
+### Challenge 4: Persistent Toggle
+Make it toggle on press instead of hold
 ```java
-// Correct Phoenix 6 usage
-StatusSignal<Angle> positionSignal = motor.getPosition();
-double rotations = positionSignal.getValue().in(Units.Rotations);
+// Create a boolean that toggles
+BooleanSupplier toggledMode = new BooleanSupplier() {
+    boolean enabled = false;
+    { controller.rightBumper().onTrue(Commands.runOnce(() -> enabled = !enabled)); }
+    public boolean getAsBoolean() { return enabled; }
+};
+```
+## Key Takeaways
 
-// Incorrect (won't compile)
-StatusSignal<Double> positionSignal = motor.getPosition(); // Type mismatch!
-```
+- **Separation of Concerns**: Drive logic stays in DriveCommands, button mapping in RobotContainer
+- **Functional Programming**: Suppliers allow dynamic values without complex state management
+- **Telemetry First**: Always add logging for debugging and analysis
+- **Incremental Development**: Start simple (hold button) then add complexity (toggle, multiple modes)