Mubotics 7157 - FRC 2026 Robot Skeleton

A comprehensive FRC robot skeleton for Team 7157 (Mubotics), based on Team 254's 2025 codebase, updated for WPILib 2026.

Features

• Swerve Drive with CTRE Phoenix 6 (v26)
• AdvantageKit integration for logging and replay
• PhotonVision support for vision processing
• PathPlanner integration for autonomous path following
• MapleSim simulation support

Package Structure

src/main/java/
├── frc/robot/                    # Main robot code
│   ├── subsystems/               # Robot subsystems
│   ├── commands/                 # Command classes
│   ├── controlboard/             # Driver controls
│   ├── auto/                     # Autonomous routines
│   └── lib/                      # Utility libraries
│       ├── drivers/
│       ├── util/
│       ├── subsystems/
│       └── ...
│
└── com/team254/lib/pathplanner/  # PathPlanner library (from 254)

Dependencies (vendordeps)

• WPILib 2026.2.1
• Phoenix 6 (v26.1.0)
• AdvantageKit (v26.0.0)
• PathPlannerLib (2026.1.2)
• PhotonLib (v2026.1.1-rc-3)
• MapleSim

Getting Started

1. Clone this repository
2. Open in VS Code with WPILib extension
3. Update team number in .wpilib/wpilib_preferences.json
4. Build with ./gradlew build
5. Deploy with ./gradlew deploy

Simulation

Run simulation with:

./gradlew simulateJava

For replay mode:

./gradlew simulateJavaRelease -Preplay

Credits

Based on Team 254 (The Cheesy Poofs) 2025 Robot Code