Spartobots 2026 (FRC Team 4687)

Java/WPILib robot code for FRC Team 4687 Spartobots' 2026 robot. The project uses command-based WPILib with AdvantageKit logging, PathPlanner pathfinding, PhotonVision camera integration, and MapleSim-based desktop simulation.

Highlights

• Swerve drive with pose estimation, programmatic autonomous, and field-relative auto-assist targets.
• Game-piece stack made of intake, indexers, and a hooded shooter with homing and calibration tooling.
• Shared NetworkTables and AdvantageKit logging rooted at Spartobots2026 for tuning, telemetry, simulation, and operator dashboards.

Quick Start

1. Install WPILib 2026 and Java 17.
2. From the repo root, run:
   • ./gradlew test
   • ./gradlew simulateJava
   • ./gradlew deploy
3. Open AdvantageScope or another NT4 client when tuning or simulating.
4. Use src/main/java/frc/robot/Constants.java to choose desktop SIM vs REPLAY. A real roboRIO always runs in REAL.

Daily Commands

• ./gradlew test runs unit tests.
• ./gradlew build builds deployable artifacts.
• ./gradlew simulateJava launches desktop simulation.
• ./gradlew deploy deploys robot code plus src/main/deploy/ assets to the roboRIO.
• ./gradlew replayWatch opens the AdvantageKit replay utility.

compileJava depends on spotlessApply, so normal Gradle builds automatically reformat Java and Gradle sources.

Project Layout

• src/main/java/frc/robot robot code, subsystem logic, targeting, simulation, and operator flows.
• src/test/java/frc/robot unit tests for autonomous behavior, targeting, interlocks, parsing, and drive logic.
• src/main/deploy PathPlanner assets and AdvantageScope robot assets copied during deploy.
• docs runbooks and subsystem-level documentation.
• vendordeps WPILib/vendor dependency manifests.

Key Docs

• Development Workflow
• Software Overview
• Driver Controls
• Simulation Workflow
• NetworkTables Layout
• Real Robot Tuning and Calibration
• Shooter Calibration Mode

License

Project-specific code in this repository is licensed under the BSD 3-Clause License as Team 4687 Spartobots code. See LICENSE for the repo license and THIRD_PARTY_NOTICES.md, AdvantageKit-License.md, and WPILib-License.md for retained third-party attribution and license notices.