FRC 2025 Robot Project

Overview

This project is designed for the FRC 2025 season, utilizing Kotlin and Java for robot control and telemetry. The project is structured to follow the Command-based programming paradigm, which is a declarative approach to robot programming. The project includes various subsystems, commands, and utilities to control a swerve drive robot.

Project Structure

The project is organized into several key directories and files:

• src/main/java/frc/robot/: Contains the main robot code, including subsystems, commands, and utilities.
  • Constants.kt: Defines various constants used throughout the project.
  • Robot.kt: The main robot class, extending TimedRobot.
  • RobotContainer.kt: Sets up the robot's subsystems, commands, and button bindings.
  • Telemetry.kt: Handles telemetry data publishing and logging.
  • Main.kt: The entry point of the robot application.
  • subsystems/: Contains subsystem classes, such as CommandSwerveDrivetrain and ExampleSubsystem.
  • commands/: Contains command classes, such as ExampleCommand and Autos.

Major Libraries Used

• WPILib: The core library for FRC robot programming, providing support for hardware interfaces, control algorithms, and more.
• CTRE Phoenix: A library from Cross The Road Electronics for controlling their motor controllers and sensors.
• PathPlanner: A library for autonomous path planning and following.

Key Components

Subsystems

• CommandSwerveDrivetrain: Extends the CTRE SwerveDrivetrain class and implements the Subsystem interface for swerve drive control.
• ExampleSubsystem: A simple example subsystem demonstrating basic structure and functionality.

Commands

• ExampleCommand: An example command that interacts with ExampleSubsystem.
• Autos: Manages autonomous commands and provides a chooser for selecting different autonomous modes.

Telemetry

• Telemetry: Handles publishing and logging of telemetry data, including robot pose, speeds, and module states.

Constants

• Constants: Defines various constants used throughout the project, such as operator constants and physical properties of the robot.

Getting Started

1. Clone the repository:

   git clone https://github.com/BearBots6964/FRC2025.git
   cd FRC2025

Important

Make sure you have Git installed on your system, along with the 2025 WPILib release.

2. Open the project in IntelliJ IDEA:
   • Open IntelliJ IDEA.
   • Select "Open" and navigate to the project directory.

Note

Other integrated development environments such as Visual Studio Code, Emacs, Neovim, and Helix should work, but have not been tested with this codebase.

(Visual Studio Code, or at least the WPILib distribution of it, is the only officially supported IDE. We use IntelliJ IDEA for development because it's better.)

Important

Ensure you have the FRC plugin installed in IntelliJ IDEA.

3. Build the project:

   • Use the Gradle tool window to build the project.
   • Ensure all dependencies are downloaded and the project compiles successfully.

4. Deploy to the robot:

   • Connect to the robot's network.
   • Use the WPILib tools to deploy the code to the robot.

Note

If the Gradle tasks do not appear in the top right dropdown next to the build and debug buttons, you may need to add the FRC Gradle shortcuts by hitting Shift twice and typing "Create Run/Debug Configurations."

Contributing

See CONTRIBUTING.md for information on how to contribute to this project.