REBUILT 2026 — FRC robot codebase by Team Robototes

REBUILT 2026 is the competition robot codebase for Team Robototes (2412), written in WPILib command-based Java for the 2026 FRC game REBUILT. The project targets the RoboRIO 2 running Java 17 and is built with GradleRIO 2026.2.1. It drives a fully swerve-based drivetrain (CTRE Phoenix 6 TalonFX + CANcoder), an articulated launcher with a hood, a rotating turret, a game-piece intake and indexer, an LED strip, and a three-camera Limelight vision system — all coordinated through WPILib’s CommandScheduler.

High-level architecture

The entry point is Main.java, which calls RobotBase.startRobot(Robot::new). Robot extends TimedRobot and owns the top-level object graph.

Main
 └─ Robot  (TimedRobot, 20 ms loop)
     ├─ Subsystems  ← creates and holds every SubsystemBase
     │    ├─ CommandSwerveDrivetrain  (drivebaseSubsystem)
     │    ├─ LauncherSubsystem        (hood + flywheels + turret)
     │    ├─ IntakeSubsystem          (pivot + rollers)
     │    ├─ IndexerSubsystem         (spindexer + feeder)
     │    ├─ VisionSubsystem          (three Limelights)
     │    └─ LEDSubsystem             (CANdle)
     ├─ Controls   ← all button bindings and default commands
     └─ CommandScheduler.getInstance().run()  ← called every robotPeriodic()

Robot.robotPeriodic() is the heartbeat of the system. It runs the CommandScheduler, updates vision pose estimates from the drivetrain’s SwerveDriveState, logs garbage-collection count to SmartDashboard, and resumes the DataLog every second.

Controls is instantiated after Subsystems. It receives the Subsystems object and a SimWrapper and registers all CommandXboxController trigger bindings there. No robot logic lives in the periodic callbacks beyond calling CommandScheduler.run().

Package structure

Package	Contents
`frc.robot`	`Main`, `Robot`, `Subsystems`, `Controls`, `Hardware` constants
`frc.robot.subsystems.drivebase`	`CommandSwerveDrivetrain` (Phoenix 6 swerve)
`frc.robot.subsystems.launcher`	`LauncherSubsystem`, `TurretSubsystem`, `Flywheels`, `Hood`
`frc.robot.subsystems.intake`	`IntakeSubsystem`, `IntakePivot`, `IntakeRollers`
`frc.robot.subsystems.index`	`IndexerSubsystem`, `Feeder`, `Spindexer`
`frc.robot.subsystems.auto`	`AutoLogic`, `AutoBuilderConfig`, `AutonomousField`, `AutoDriveRotate`
`frc.robot.sensors`	`LEDSubsystem`
`frc.robot.subsystems`	`VisionSubsystem`
`frc.robot.sim`	`SimWrapper`, `ShowVisionOnField` (simulation wrappers)
`frc.robot.util`	Utilities: `RobotType`, `GCMonitor`, `AllianceUtils`, `LimelightHelpers`, `BuildInfo`, etc.
`frc.robot.util.simulation`	`RobotSim`, `FuelSim` (robot physics simulation helpers)
`frc.robot.generated`	`CompTunerConstants`, `AlphaTunerConstants` (Tuner X generated swerve configs)

Enabled subsystems

Every subsystem is gated by a boolean flag in Subsystems.SubsystemConstants. The table below shows all flags as they appear in the current codebase.

Constant	Default	Subsystem
`DRIVEBASE_ENABLED`	`true`	Swerve drivetrain (`CommandSwerveDrivetrain`)
`INTAKE_ROLLERS_ENABLED`	`true`	`IntakeRollers`
`INTAKE_ARM_ENABLED`	`true`	`IntakePivot`
`INTAKE_ENABLED`	derived	`IntakeSubsystem` (arm AND rollers)
`SPINDEXER_ENABLED`	`true`	`Spindexer`
`FEEDER_ENABLED`	`true`	`Feeder`
`INDEXER_ENABLED`	derived	`IndexerSubsystem` (spindexer AND feeder)
`FLYWHEELS_ENABLED`	`true`	`Flywheels`
`HOOD_ENABLED`	`true`	`Hood`
`TURRET_ENABLED`	`true`	`TurretSubsystem`
`LAUNCHER_ENABLED`	derived	`LauncherSubsystem` (hood AND flywheels AND turret)
`VISION_ENABLED`	`true`	`VisionSubsystem` (requires `DRIVEBASE_ENABLED`)
`LEDS_ENABLED`	`true`	`LEDSubsystem`

Derived constants are computed as logical AND of their component flags — for example:

public static final boolean LAUNCHER_ENABLED =
    HOOD_ENABLED && FLYWHEELS_ENABLED && TURRET_ENABLED;

Disabling a subsystem by flipping its flag to false causes Subsystems to assign null to that subsystem field. Controls checks for null at the top of each configure*Bindings() method and exits early, so the rest of the binding code is safely skipped.

Dual hardware configurations

The codebase runs on two physical robots — an Alpha prototype and a Competition bot. The correct configuration is selected automatically at startup by reading the RoboRIO’s serial number in RobotType.java. In simulation the type is always SIM.

// RobotType.java — static initializer
if (RobotBase.isSimulation()) {
  TYPE = RobotTypesEnum.SIM;
} else {
  String serialNumber = RobotController.getSerialNumber();
  if (serialNumber.equals(comp)) {   // "032B4B39"
    TYPE = RobotTypesEnum.COMP;
  } else if (serialNumber.equals(alpha)) {  // "032B4B88"
    TYPE = RobotTypesEnum.ALPHA;
  } else {
    TYPE = RobotTypesEnum.OTHER;
  }
}

Wherever hardware differs — swerve module constants, turret PID gains, gear ratios, soft limits, and CAN bus routing — the code branches on RobotType.isAlpha() or RobotType.isComp(). See Robot Types for the full comparison.

Explore further

Quickstart

Clone the repo, build, simulate, and deploy to a RoboRIO in six steps.

Robot Types

Alpha vs Competition bot configuration — serial numbers, PID gains, gear ratios, and more.

Subsystems

Deep-dive into each subsystem: drivebase, launcher, intake, indexer, and vision.

Configuration

Hardware IDs, launcher constants, and live NT tuning.

Get Started

Subsystems

Autonomous

Simulation

Configuration & Tuning

REBUILT 2026 — FRC robot codebase by Team Robototes

High-level architecture

Package structure

Enabled subsystems

Dual hardware configurations

Explore further

Quickstart

Robot Types

Subsystems

Configuration

​High-level architecture

​Package structure

​Enabled subsystems

​Dual hardware configurations

​Explore further

Quickstart

Robot Types

Subsystems

Configuration

High-level architecture

Package structure

Enabled subsystems

Dual hardware configurations

Explore further