.. include:: <isonum.txt>

# Running Your Test Program

Test your FRC drivetrain through a direct connection and through the radio,
with its drive wheels safely off the floor.

This page covers testing an FRC drivetrain program written in Java, C++,
Python, or Blocks using the FRC Driver Station. Before testing, create and
deploy your :doc:`Java, C++, or Python drivetrain program
</docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python>`
or a :ref:`Blocks drivetrain sample <create_blocks_project>`, and complete
the Step 3 communication checks.

Work through the tests in order: check the direct connection, test controller
response with the wheels off the floor, then repeat the test through the radio.
Keep the robot disabled between tests.

## Before You Enable

.. warning::

   A drivetrain can move as soon as the robot is enabled. Safely support the
   robot with all drive wheels clear of the floor. Keep hands, hair, tools, and
   loose clothing away from moving parts. Have another person ready to turn
   robot power off.

Confirm all of the following:

- The Systemcore, Driver Station, and WPILib project use the same team number.
- The drivetrain example was deployed without a build or deploy error.
- The controller is connected and assigned to port 0.
- Controller axes return to neutral when released.
- Motor ports or CAN IDs in the program match the wired devices.
- One drivetrain side is inverted in software as shown by the complete example.

## Test While Tethered

Test through a direct connection before testing through the radio. This
separates program and controller problems from radio configuration problems.

1. Boot the Systemcore normally.
2. Connect the Driver Station computer directly to the Systemcore:

   - Use the USB-C LINK port with a data-capable cable. On Alpha hardware,
     connect LINK after the Systemcore boots so it does not enter flash mode.
   - Or connect directly by Ethernet.

3. Open **FIRST Driver Station** from the desktop or Start menu.

   .. image:: /docs/software/firstdriverstation/images/driver-station/first-ds-icon.png
      :alt: The FIRST Driver Station desktop icon.
      :width: 64

4. In Driver Station settings, enter the team number shown on the Systemcore
   display.

   .. image:: /docs/software/firstdriverstation/images/driver-station/settings-tab(1).png
      :alt: The Driver Station settings tab used to enter the team number.

5. Open the **Gamepad** tab. Assign the controller to port 0 and verify
   that its axes and buttons respond. Keep this tab open when reconnecting a
   controller so Driver Station refreshes the connected-device list.
6. Confirm that Driver Station shows:

   - Robot communication
   - Robot code
   - Controller input
   - A plausible robot battery voltage

**Expected result:** Driver Station reports communication, running code, and
controller input while the robot remains disabled. Controller values change
when you move a stick and return to neutral when you release it.

If communication is missing, return to
:doc:`Step 3 <../step-3/index>`. If communication is present but robot code is
missing, inspect the deploy output and Driver Station log before enabling.

## First Enable

1. Select **Teleoperated** mode.
2. Ask everyone nearby to stand clear and announce that the robot is about to
   enable.
3. Click **Enable** in Driver Station.
4. Move the forward axis only a small amount, then release it. Confirm that
   both sides turn in the expected direction.
5. Test steering with a small input, then release it. Confirm the drivetrain
   responds to the turn input and stops when the controls return to neutral.
6. Click **Disable**, or press :kbd:`Enter`, before approaching the robot.

.. important::

   The keyboard enable shortcut is :kbd:`[` + :kbd:`]` + :kbd:`\\`, not
   :kbd:`Enter`. The :kbd:`Space` bar is **Emergency Stop**, not ordinary
   disable. An emergency-stopped robot must be rebooted before it can be
   enabled again.

**Expected result:** forward and steering inputs produce the intended motion,
and releasing the controls stops the motors. Confirm that disabling stops the
motors before approaching the robot.

If one side runs backward, disable the robot and change that side's inversion
setting in software. Do not reverse motor power leads as a substitute for
correct drivetrain configuration.

## Test Through the Radio

Only continue after tethered operation works.

1. Configure the robot and access-point VH-109 radios with matching team
   number, suffix, and security keys as described in
   :doc:`Programming Your Radio <../step-3/radio-programming>`.
2. Connect the Driver Station computer to the access-point radio by Ethernet.
3. Confirm that robot communication and robot code return in Driver Station.
4. Repeat the **First Enable** procedure with the robot safely supported.

**Expected result:** the same controller inputs produce the same drivetrain
response through the radio as through the direct connection. If the direct test
passes but the radio test fails, check the radio setup and network connection
before changing the drive code.

After both tests pass, disable the robot and confirm that all drivetrain
directions are correct before lowering it to the floor. For the first
floor test, use a clear open area, begin with small controller inputs, and keep
another person ready to disable or power off the robot.

.. tip::

   If a check fails, use :doc:`Robot troubleshooting
   </docs/software/support/troubleshooting>` or the
   :doc:`Driver Station errors and warnings
   </docs/software/firstdriverstation/first-driver-station-errors-warnings>`.

.. container:: sw-success

   .. container:: sw-success-h

      ✓ Your FRC drivetrain passed its supported-wheel tests.

   The robot is ready for a careful floor test in a clear area.

.. container:: sw-nav

   :doc:`← Create Your Test Drivetrain Program
   <creating-test-drivetrain-program-cpp-java-python>`

   .. container:: sw-next

      :doc:`Return to Step 4 → <index>`