MARLIN documentation¶

MARLIN is a robotics platform for building, programming, and competing with robots. You write Python code, run it from VS Code, and drive a real robot through a Controller connected to your laptop.

Install MARLIN What is MARLIN? Write your first program Operate the extension

Start here¶

If this is your first time using MARLIN as a student, follow these in order:

1. What is MARLIN?
2. Install MARLIN
3. Write your first program
4. Run it with the extension. Do this early, so you can test everything that follows
5. Learn Python basics (skip if you already know Python)
6. Build a complete robot program
7. Learn the MARLIN API
8. Read the game manual

After that, use the guide pages, examples, and reference when you need them.

Choose your path¶

What a MARLIN program looks like¶

Most of the time, you only need to know how to write a MARLIN Python program: declare your hardware, read controller/sensor state, and command effectors.

from marlin import Robot, Thruster, IMU

THRUSTER = "M1"
IMU_PORT = "S1"

robot = Robot()
robot.configure(
    sensors={IMU_PORT: IMU},
    effectors={THRUSTER: Thruster},
)

def autonomous(robot):
    while robot.running:
        robot.thruster(THRUSTER).set_duty(30)

robot.run(autonomous=autonomous)

Main sections¶

If you want the bigger picture¶

MARLIN keeps your laptop in the loop while the robot runs. The VS Code extension launches your program, owns the Controller USB connection, and passes state and commands between your code and the robot.

flowchart LR
    program["Your Python program"]
    api["marlin Python API"]
    extension["MARLIN VS Code extension"]
    controller["Controller\nUSB serial"]
    robot["Robot\nBluetooth (BLE) link"]

    program <--> api
    api <--> extension
    extension <--> controller
    controller <--> robot

You do not need this architecture view to write your first program, but it is useful when debugging or trying to understand why the extension has to stay open. See How MARLIN works for the detailed version.

Event staff¶

The pool-management documentation is separated because it is for game officials and event staff, not normal robot programming. See Pool management if you are running a pool server or operating matches.