examples/

NT4 Examples

This directory contains example programs demonstrating how to use the go-nt4 library.

Examples

1. Publisher (publisher/)

Simple example that publishes various types of data to NetworkTables.

Usage:

cd publisher
go run main.go

Publishes:

• /robot/speed (double)
• /robot/mode (string)
• /robot/enabled (boolean)
• /robot/position (double array)

2. Subscriber (subscriber/)

Subscribes to all /robot/* topics and prints values periodically.

Usage:

cd subscriber
go run main.go

Features:

• Prefix matching subscription
• Batched printing every 2 seconds

3. Subscriber with Callback (subscriber_callback/)

Subscribes to a specific topic with immediate callback on each update.

Usage:

cd subscriber_callback
go run main.go

Features:

• Real-time callback execution
• Demonstrates callback pattern

4. Bidirectional (bidirectional/)

Both publishes and subscribes, demonstrating two-way communication.

Usage:

cd bidirectional
go run main.go

Features:

• Publishes sensor data
• Receives data from other sources
• Connection callbacks

5. Team Robot (team_robot/)

Example for connecting to a real FRC robot using team number.

Usage:

cd team_robot
go run main.go

Features:

• Team number to address conversion
• Topic announcement callbacks
• Robot dashboard display
• Server time synchronization info

Running Examples

For Simulation (Local Testing)

All examples default to 127.0.0.1 for simulation. You can test using:

• WPILib's NetworkTables server
• Robot simulation
• Another instance of these examples

For Real Robot (Team 2064)

Uncomment the robot line in any example:

// Change from:
opts := nt4.DefaultClientOptions("127.0.0.1")

// To:
opts := nt4.DefaultClientOptions(nt4.TeamNumberToAddress(2064))

Or for other teams:

opts := nt4.DefaultClientOptions(nt4.TeamNumberToAddress(254)) // Team 254

Testing with Multiple Examples

You can run multiple examples simultaneously to test pub/sub:

Terminal 1:

cd publisher
go run main.go

Terminal 2:

cd subscriber
go run main.go

Terminal 3:

cd bidirectional
go run main.go

Network Setup

For real robot connections:

1. Connect to the robot's WiFi network
2. Make sure port 5810 is accessible
3. Use the team number address helper: nt4.TeamNumberToAddress(YOUR_TEAM)

Typical Robot Addresses

• roboRIO: 10.TE.AM.2 (e.g., Team 2064 = 10.20.64.2)
• Simulation: 127.0.0.1 or localhost
• Custom Server: Any IP address with NT4 server running