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CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

Project Overview

This is an FRC (FIRST Robotics Competition) robot project using WPILib 2025, AdvantageKit for logging, and CTRE Phoenix 6 for motor control. The project follows a command-based robot architecture with IO abstraction layers for hardware components.

Build and Development Commands

Building the Project

# Windows with WPILib's JDK
JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build

# Or if JAVA_HOME is already configured
./gradlew build

Running Tests

./gradlew test

Code Formatting (Spotless)

./gradlew spotlessApply  # Auto-format code
./gradlew spotlessCheck  # Check formatting

Deploy to RoboRIO

./gradlew deploy

Simulation

./gradlew simulateJava  # Run robot simulation

AdvantageKit Log Replay

./gradlew replayWatch  # Watch log replay

Architecture Overview

Core Structure

  • Main Entry: frc.robot.Main - Entry point, launches Robot class
  • Robot Class: frc.robot.Robot - Extends LoggedRobot, initializes AdvantageKit logging
  • RobotContainer: frc.robot.RobotContainer - Central configuration for subsystems, commands, and button bindings
  • Constants: frc.robot.Constants - Global robot constants and configuration

Subsystem Architecture

Each subsystem follows an IO abstraction pattern for hardware independence:

  • Subsystem Class: Core logic and command interface (e.g., Drive.java)
  • IO Interface: Hardware abstraction layer (e.g., DriveIO.java)
  • IO Implementations:
    • Real hardware (e.g., DriveIOTalonFX.java)
    • Simulation (e.g., DriveIOSim.java)

Current subsystems:

  • drive/ - Swerve drive system with module control
  • intake/ - Game piece intake mechanism
  • shooter/ - Shooting mechanism
  • superstructure/ - Coordinated subsystem control
  • vision/ - Camera and vision processing

Command Structure

  • Commands in frc.robot.commands/
  • Uses WPILib's command-based framework
  • Factory methods in DriveCommands.java and SuperstructureCommands.java

Critical Implementation Details

CTRE Phoenix 6 API Usage

Phoenix 6 uses typed units, not raw doubles:

// CORRECT
StatusSignal<Angle> positionSignal = motor.getPosition();
double rotations = positionSignal.getValue().in(Units.Rotations);

// INCORRECT - Won't compile
StatusSignal<Double> positionSignal = motor.getPosition();

Current Limits with Phoenix 6

Use SupplyCurrentLimit and StatorCurrentLimit, not threshold-based limits.

AdvantageKit Logging

  • All IO operations must log inputs/outputs through AutoLog
  • Use @AutoLog annotation on IO classes
  • Logger is initialized in Robot constructor

Gradle Configuration

  • Java 17 target
  • Spotless auto-formatting runs before compilation
  • Event branches auto-commit on deploy
  • JVM heap limited to 100MB for RoboRIO deployment

Vendor Dependencies

  • WPILib 2025.3.2
  • CTRE Phoenix 6 (latest)
  • AdvantageKit (for logging)
  • PathPlanner (path following)
  • PhotonLib (vision processing)
  • Maple-sim (simulation utilities)

Testing Approach

  • JUnit 5 for unit tests
  • Test files located alongside source in standard Maven structure
  • Run with ./gradlew test

Simulation Notes

  • Simulation GUI enabled by default
  • Supports AdvantageKit log replay
  • Simulation implementations available for all major subsystems