Introduction
Learn what this codebase does and how it is structured before diving in.
Quickstart
Clone the repo, install dependencies, and deploy to a RoboRIO in minutes.
Subsystems
Explore the drivebase, launcher, intake, vision, indexer, and LED subsystems.
Autonomous
Understand PathPlanner auto selection, named commands, and available paths.
Simulation
Run the full robot in WPILib simulation with vision and fuel physics.
Configuration & Tuning
Hardware IDs, launcher constants, tuner constants, and live NT tuning.
Key Features
Swerve Drivetrain
CTRE Phoenix 6 swerve with field-centric control, SysId characterization, and odometry fusion.
Turret Auto-Aim
Corner turret with Newton-Raphson moving-shot solver and acceleration compensation.
3-Camera Vision
Three Limelights using MegaTag2 pose estimation with defense-aware std-dev scaling.
PathPlanner Autos
Twelve named autonomous routines with dynamic chooser and auto delay support.
Dual Robot Support
Alpha and Competition bot configs selected automatically by RoboRIO serial number.
Full Simulation
Ground-truth physics, PhotonVision sim, and fuel trajectory simulation in WPILib sim.
Quick Navigation
1
Understand the structure
Read the Introduction to understand how subsystems, controls, and hardware are organized.
2
Set up your development environment
Follow the Quickstart to install WPILib, clone the repo, and build the project.
3
Explore subsystems
Browse the Subsystems section to understand each robot mechanism.
4
Configure and tune
Use the Configuration & Tuning section to set CAN IDs, launcher lookup tables, and live NT parameters.