Reefscape 2025 - FRC Robot Code

This repository contains the robot code for the 2025 FRC season game "Reefscape".

🤖 Robot Overview

This robot is designed to play the 2025 FRC game, featuring:

• Swerve Drive: Advanced drivetrain for omnidirectional movement
• Elevator System: Vertical positioning for game piece placement
• Arm Mechanism: Precise angle control for scoring
• Grabber: Intake system for both Coral and Algae game pieces
• Climb System: End-game climbing mechanism
• Vision: AprilTag-based field positioning

🚀 Quick Start

Prerequisites

• WPILib 2025 (or latest)
• Java JDK 17+
• VS Code with WPILib extension

Building and Deploying

# Build the project
./gradlew build

# Deploy to robot
./gradlew deploy

# Run simulation
./gradlew simulateJava

📁 Project Structure

src/main/java/frc/robot/
├── Robot.java                  # Main robot class
├── RobotContainer.java         # Robot subsystem container
├── constants/                  # All robot constants organized by category
├── config/                     # Motor and subsystem configurations
├── subsystems/                 # Robot subsystems
│   ├── arm/                    # Arm subsystem
│   ├── climb/                  # Climb mechanism
│   ├── elevator/               # Elevator system
│   ├── grabber/                # Game piece intake
│   ├── swerve/                 # Swerve drivetrain
│   ├── led/                    # LED indicators
│   └── vision/                 # Vision processing
├── commands/                   # Command-based logic
│   ├── auto/                   # Autonomous commands
│   ├── teleop/                 # Teleoperated commands
│   └── groups/                 # Reusable command groups
├── controls/                   # Controller bindings
├── auto/                       # Autonomous routines and builders
├── game/                       # Game-specific logic
└── util/                       # Utility classes

🎮 Controls

See CONTROLS.md for detailed controller mappings.

Driver (Xbox Controller 0)

• Left Stick: Translation
• Right Stick: Rotation
• Bumpers: Speed modifiers
• A Button: Zero gyro

Operator (Xbox Controller 1)

• POV: Preset positions for scoring
• Triggers: Intake/Outtake
• Bumpers: Game piece type selection

🔧 Subsystems

Swerve Drive

• 4-module swerve drivetrain using YAGSL library
• Field-oriented control with gyro correction
• PathPlanner integration for autonomous

Elevator + Arm

• Coordinated motion for precise game piece placement
• Preset positions for all scoring levels
• Soft limits and collision detection

Grabber

• Dual-mode intake for Coral and Algae
• Current-based game piece detection
• Time-of-flight sensors for piece confirmation

📊 Development

Code Standards

• Use meaningful variable names
• Follow WPILib command-based programming paradigms
• Document public methods with JavaDoc
• Keep subsystems focused and independent

Adding New Features

1. Create/modify subsystems in subsystems/
2. Add constants to appropriate files in constants/
3. Create commands in commands/
4. Register commands in RobotContainer or AutoBuilder
5. Update documentation

Tuning Constants

All tunable constants are organized in the constants/ package:

• Subsystem constants: PID values, physical dimensions, limits
• Port mappings: CAN IDs, DIO ports
• Operator constants: Controller sensitivity, deadbands

🏁 Autonomous

Autonomous routines use PathPlanner for path following. Paths are stored in src/main/deploy/pathplanner/.

Named commands are registered in auto/AutoCommands.java and can be triggered from PathPlanner event markers.

🧪 Testing

# Run unit tests
./gradlew test

# Run with robot simulation
./gradlew simulateJava

📝 License

This project is licensed under the WPILib BSD License - see WPILib-License.md

🤝 Contributing

See CONTRIBUTING.md for contribution guidelines.

📞 Team Contact

FRC Team: [Your Team Number]