2025-Robot

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Robot code for 2025 FRC season

Doxygen documentation

Key Features

LED Color Codes

Color	Pattern	Strips	Meaning	Trigger
Green	Solid	All	Reef AprilTag detected	N/A

Controller Vibration Feedback

Pattern	Controller	Meaning
Continuous 100%	Both	Swapping controllers activated. Swap occurs after vibration ends
500 ms pulse	Driver	Aligned to reef for scoring coral

FTP

• ftp://172.22.11.2 -USB only
• ftp://roborio-1756-frc.local -USB, Wifi, or Ethernet
• ftp://10.17.56.2 -Wifi or Ethernet

Commissioning A Robot

When commissioning a new robot, you should set the instance type to either "Competition" or "Practice" by creating a text file using FTP readable by lvuser on the RoboRIO at path /home/lvuser/robotInstance. The content of this file should be just the text Competition or Practice with no whitespace preceding. If no valid instance is found at runtime, competition instance will be used and an error will be generated.

Homing Swerve Drive

1. When homing swerve modules figure out what is the front of the robot. The battery is the front.
2. Rotate each swerve module to where each bevel gear is to the left side of the robot.
3. Use something flat that is the length of the robot and line the swerve wheels up.
4. Power on the robot and connect your computer. Open Phoenix Tuner X. Select each drive CANcoder and click the "Zero CANcoder" button.

Homing arm

1. Move arm so it's parallel to the ground in the left position. The battery is the front.
2. Power on the robot and connect your computer. Open Phoenix Tuner X. Select arm CANcoder and click the "Zero CANcoder" button.

   ‍:memo: Note: Positive direction is rotating toward upward position

Homing wrist

1. Move wrist so wheels are toward the elevator and the rotating wrist tube aligns to the stationary arm tube.
2. Power on the robot and connect your computer. Open Phoenix Tuner X. Select arm CANcoder and click the "Zero CANcoder" button.

   ‍:memo: Note: Positive direction is rotating toward wheels left while arm is up. The battery is the front

Homing climber

1. Move climber so it's parallel to the ground extended toward front of robot. The battery is the front.
2. Power on the robot and connect your computer. Open Phoenix Tuner X. Select climber CANcoder and click the "Zero CANcoder" button.

   ‍:memo: Note: Positive direction is rotating inward toward elevator

Vision

See vision readme for information on which pipelines to use and which indices to install these pipelines on.

Playing With Fusion Addressing

Go to http://10.17.56.2:5812 while connected to the robot to update firmware or change addresses.

Project Setup

Pre-Commit

This project uses pre-commit to check code formatting before accepting commits.

First install the prerequisites:

• python3 (with pip) - instructions
  • Python 3.12.x from the Python website works well. Make sure to check the add to path option in the installer.

• pip packages:

  • You may need to add the pip install path to your shell's path if you're using Git Bash. In git bash:
    1. Open (or create) new file ~/.bashrc by running vim ~/.bashrc
    2. Add this to the end: PATH=$PATH:$LOCALAPPDATA/Programs/Python/Python39/Scripts/ (change Python39 to match your python version)
       • Note: The actual path you need to add ($LOCALAPPDATA/Programs/Python/Python39/Scripts/ in the above example) depends on your Python installation. If y ou do the pip install steps first, pip will print the path you need to add.
       • To type in Vim, type i and you should see INSERT at the bottom of the window to indicate you're editing in insert mode
    3. Exit by pressing Esc then type :wq and press Enter
    4. Run source ~/.bashrc to update your session
  • wpiformat - pip install wpiformat
  • clang-format - pip install clang-format
  • pre-commit - pip install pre-commit

  Make sure to run pip install <package> commands in an administrator terminal if installing in windows

Then initialize:

pre-commit install
pre-commit run

The first run may take a moment, but subsequent automatic runs are very fast.

You'll now have the linter run before each commit! For compatibility with Windows, we recommend the pip version of clang-format, but wpi-format will find any installed clang-format binary in the system path.

Controls

Driver Coral Mode:

Button	Function
Left JS X	Drive
Left JS Y	Drive
Right JS X	Turn
Right JS Y	Unused
DPad Up	Unused
DPad Right	Unused
DPad Down	Unused
DPad Left	Unused
A	Outtake Coral
B	Align Right
X	Align Left
Y	Manual Place
LB	Left Intake
RB	Right Intake
LT	Left Place
RT	Right Place
Back	Field Home
Start	Unused
Left JS Button	Unused
Right JS Button	Unused

Driver Algae Mode:

Button	Function
Left JS X	Drive
Left JS Y	Drive
Right JS X	Turn
Right JS Y	Unused
DPad Up	Unused
DPad Right	Unused
DPad Down	Unused
DPad Left	Unused
A	Intake Algae
B	Align Right
X	Align Left
Y	Align Algae
LB	Hold - Left Intake, Release - Place
RB	Hold - Right Intake, Release - Place
LT	Left Place
RT	Right Place
Back	Field Home
Start	Unused
Left JS Button	Unused
Right JS Button	Unused

Operator Coral Mode:

Button	Function
Left JS X	Unused
Left JS Y	Elevator
Right JS X	Wrist
Right JS Y	Unused
DPad Up	Climber Arm Up Manual
DPad Right	Climber Winch Out
DPad Down	Climber Arm Down Manual
DPad Left	Unused
A	Preclimb
B	Climber Arm Down
X	Pressed - HP Pickup, Released - Floor Intake
Y	Climber Arm Up
LB	Climber Winch In
RB	Intake Coral
LT	Shoulder Left
RT	Shoulder Right
Back	Unused
Start	Unused
Left JS Button	Unused
Right JS Button	Unused

Operator Algae Mode:

Button	Function
Left JS X	Unused
Left JS Y	Elevator
Right JS X	Wrist
Right JS Y	Unused
DPad Up	Climber Arm Up Manual
DPad Right	Climber Winch Out
DPad Down	Climber Arm Down Manual
DPad Left	Unused
A	Preclimb
B	Climber Arm Down
X	Pressed - HP Pickup, Released - Floor Intake
Y	Climber Arm Up
LB	Climber Winch In
RB	Outtake Algae
LT	Shoulder Left
RT	Shoulder Right
Back	Unused
Start	Unused
Left JS Button	Unused
Right JS Button	Unused

Button Box (Coral):

Button	Function
1	Unused
2	Unused
3	Coral L4
4	Unused
5	Unused
6	Coral L3
7	Reef Left Position (Unused)
8	Reef Right Position (Unused)
9	Coral L2
10	Coral/Algae Mode Toggle
11	Stow
12	Coral L1

Button Box (Algae):

Button	Function
1	Unused
2	Unused
3	Algae Net
4	Unused
5	Unused
6	Algae L3
7	Reef Left Position (Unused)
8	Reef Right Position (Unused)
9	Algae L2
10	Coral/Algae Mode Toggle
11	Stow
12	Algae Processor

Software Checkout

1. Swerve Drive
   • Forward/reverse
   • Left/right strafe
   • Clockwise/counterclockwise rotation
2. Coral Floor intake
   • Left/Right
3. Coral manual intake controls
   • Manual intake
   • Manual outtake
4. Coral Station intake
   • Left/Right
5. Coral Place
   • Left/Right
   • L1, L2, L3, L4
6. Algae floor pickup
   • Left/Right
7. Algae Processor placement
   • Left/Right
8. Algae net
   • Left/Right
9. Climber
   • Manual controls
   • Auto sequence
10. Vision
    • Detect targets Left/Right
    • Aim Left/Right reef pole on left and right cameras
11. Shut down robot, swap battery

Software Versions

We're using the following dependencies:

• CTRE Phoenix 25.2.2
• WPILib 2025.3.1
• Choreo v2025.0.3
• Limelightlib v1.15

Special Thanks

• Our sponsors for the 2025 season. Thank you for your continued support!
  • Caterpillar
  • Gene Haas Foundation
  • Boeing
  • Limestone Community High School
  • LCHS Booster Club
  • Playing With Fusion
  • Sergison Machine
  • Bean's Best LLC
  • Caterpillar employees & The Caterpillar Foundation
• Doxygen Awesome - for making our documentation look great

License

This software is licensed under the BSD 3-clause license. If you would like to use this software under the terms of a different license agreement, please contact us.