1209 Public Robot Code 2025

This is our code for the 2025 FRC competition Reefscape.

About our robot

• We use a swerve drive system with 8 Kraken x60 motors
• It contains several subsystems including ones for our elevator, coral mechanism, and algae mechanism. Each of these is powered by either a Kraken x60 or Kraken x40 motor.
• It uses Pathplanner for autonomous with named commands to run mechanisms in auto.

About the code

• Our robot is command based
• It has custom built commands for automatic angle management and elevator height management.
• The custom commands use sensors including a pigeon gyroscope axis for coral mechanism and Kraken motor encoders for elevator and algae.

Using the code

You are permitted to use the code for your own robots. It is licensed under MIT, so you can do almost anything with it.