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MargieRecode - FRC Robot Project

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 architecture with IO abstraction layers for hardware components.

Features

  • Swerve Drive - Full swerve drive system with module control
  • AdvantageKit Logging - Comprehensive logging and log replay support
  • IO Abstraction - Hardware-independent subsystem design for easy testing and simulation
  • PathPlanner Integration - Autonomous path following
  • LimeLight - Camera and vision processing for target tracking
  • Elastic Dashboard - Using Elastic dashboard for logging and competition purposes instead of Shuffleboard or Driverstation.

Prerequisites

  • WPILib 2025 installed (includes Java JDK 17)
  • Visual Studio Code with WPILib extension (recommended)

Build Commands

# Build the project
./gradlew build

# Run tests
./gradlew test

# Format code (Spotless)
./gradlew spotlessApply

# Check formatting
./gradlew spotlessCheck

# Deploy to RoboRIO
./gradlew deploy

# Run simulation
./gradlew simulateJava

# Log replay
./gradlew replayWatch

Note: On Windows, if JAVA_HOME is not configured, use:

JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build

Project Structure

src/main/java/frc/robot/
├── Main.java           # Entry point
├── Robot.java          # LoggedRobot, initializes AdvantageKit
├── RobotContainer.java # Subsystems, commands, button bindings
├── Constants.java      # Global constants
├── subsystems/
│   ├── drive/          # Swerve drive system
│   ├── intake/         # Game piece intake
│   ├── shooter/        # Shooting mechanism
│   ├── superstructure/ # Coordinated subsystem control
│   └── vision/         # Camera and vision processing
└── commands/           # Robot commands

Architecture

IO Abstraction Pattern

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)

This pattern enables:

  • Unit testing without hardware
  • Full simulation support
  • Easy hardware swaps
  • AdvantageKit log replay

Vendor Dependencies

  • WPILib 2025.3.2
  • CTRE Phoenix 6
  • AdvantageKit
  • PathPlanner
  • PhotonLib
  • Maple-sim

CTRE Phoenix 6 Notes

Phoenix 6 uses typed units, not raw doubles:

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

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

Current limits use SupplyCurrentLimit and StatorCurrentLimit (not threshold-based limits).