Get started with REBUILT 2026 robot code

This quickstart walks you through obtaining the REBUILT 2026 source code, building it locally, running it in the WPILib simulator, and deploying it to a physical RoboRIO. It also covers the optional Gradle build properties and what to verify on SmartDashboard after a successful deploy.

Prerequisites

Before you begin, make sure the following are installed and available on your development machine.

Requirement	Notes
JDK 17	WPILib bundles its own JDK; alternatively use any JDK 17 distribution
WPILib 2026	Install via the WPILib installer — provides Gradle toolchains, VS Code extension, and simulation GUI
VS Code with WPILib extension	Recommended IDE; the extension adds build/deploy/simulate commands to the command palette
RoboRIO with 2026 firmware	Required for on-robot deployment; team number must be 2412 (or match `.wpilib/wpilib_preferences.json`)

If you only want to build or simulate locally, you do not need a physical RoboRIO. The WPILib simulation GUI (simgui) launches automatically when you run simulateJava.

Steps

Build variants

Two Gradle project properties change what gets compiled or how the simulation runs.

Property	Default	Effect
`-PautomatedTest=true`	`false`	Switches the JAR main class to `frc.robot.test.AutomatedTestMain` for CI/hardware-in-the-loop test runs
`-PhighFidelityVision=true`	`false`	Passes the `highFidelityVision` system property into the simulation JVM, enabling additional vision simulation fidelity

# Run automated tests
./gradlew simulateJava -PautomatedTest=true

# Deploy with high-fidelity vision build flag (simulation only — no effect on RoboRIO deploy)
./gradlew simulateJava -PhighFidelityVision=true

DataLog

On a real robot, DataLogManager starts automatically in the Robot constructor:

if (RobotBase.isReal()) {
  DataLogManager.start("", "", DATA_LOG_FLUSH_PERIOD_S); // 14 Hz flush (1/14 s)
  DriverStation.startDataLog(DataLogManager.getLog(), true);
}

Logs are flushed at 14 Hz (DATA_LOG_FLUSH_PERIOD_S = 1.0 / 14.0). The DataLog is also resumed every second in robotPeriodic() to recover from any transient pauses. Struct schemas for Pose2d, Pose3d, ChassisSpeeds, SwerveModuleState, and SwerveModulePosition are explicitly registered so log viewers (e.g., Advantage Scope) can decode them. Command lifecycle events (initialize, interrupt, finish) are also logged automatically via CommandScheduler callbacks:

CommandScheduler.getInstance()
    .onCommandInitialize(cmd -> DataLogManager.log("Command initialized: " + cmd.getName()));

Before enabling the robot for a match or tuning session, zero the hood and turret using the Start button on the driver controller. The disabledExit() callback will warn via DriverStation.reportWarning if the hood has not been zeroed when exiting disabled mode.

Get Started

Subsystems

Autonomous

Simulation

Configuration & Tuning

Get started with REBUILT 2026 robot code

Prerequisites

Steps

Build variants

DataLog

​Prerequisites

​Steps

​Build variants

​DataLog

Prerequisites

Steps

Build variants

DataLog