FRC Team 2408 Shrapnel Sergeants - 2025 Competition Code

Overview

Primary competition repository for FRC Team 2408's 2025 season robot. This codebase contains all competition-ready code used during the 2025 FRC game season. All code in this repository should be thoroughly tested and competition-ready.

Robot Hardware

Drive Base:
- Swerve Drive (4 modules)
- Module Configuration:
  ├── Drive Motor: [Type TBD]
  ├── Turn Motor: [Type TBD]
  ├── Absolute Encoder: [Type TBD]
  └── Turn Encoder: [Type TBD]

Manipulator:
- [TBD based on game]

Vision:
- Cameras: [Type TBD]
- Processing: [Hardware TBD]

Control System:
- roboRIO 2.0
- REV Power Distribution Hub
- Radio: OpenMesh OM5P-AC

Development Environment Setup

Required Software

1. WPILib 2024.1.1 or newer
2. Visual Studio Code with extensions:
   - WPILib
   - Java Extension Pack
   - Git Graph
3. Vendor Libraries:
   - REVLib
   - Phoenix6
   - PhotonVision
4. Git

Initial Setup

# Clone repository
git clone https://github.com/FRCTeam2408/2025_Competition_Code.git
cd 2025_Competition_Code

# Build project
./gradlew build

Project Structure

src/main/java/frc/robot/
├── subsystems/
│   ├── drive/          # Swerve drive subsystem
│   ├── manipulator/    # Game piece manipulation
│   └── vision/         # Vision processing
├── commands/
│   ├── drive/          # Drive commands
│   ├── manipulator/    # Manipulator commands
│   └── autonomous/     # Autonomous routines
├── constants/          # Robot constants
└── utils/              # Utility classes

src/test/java/frc/robot/  # Test files

Development Workflow

Branch Structure

main           # Competition-ready code only
└── develop    # Main development branch
    ├── feature/   # New features
    ├── fix/       # Bug fixes
    └── chore/     # Maintenance tasks

Development Process

1. Create branch from develop:

   git checkout develop
   git pull origin develop
   git checkout -b feature/your-feature

2. Write code and test:

   # Build and test locally
   ./gradlew build
   ./gradlew test
   
   # Test in simulation
   ./gradlew simulateJava

3. Create pull request:

   • Push changes to GitHub
   • Create PR targeting develop branch
   • Fill out PR template
   • Request reviews

Code Reviews

All code must be reviewed before merging:

• Develop branch: 1 reviewer required
• Main branch: 2 reviewers required
• Must include mentor review for main branch

Competition Procedures

Pre-Competition Checklist

1. Code Verification:
   □ All tests passing
   □ Build successful
   □ Known issues documented
   □ Autonomous modes verified
   □ Dashboard configured

2. Robot Setup:
   □ Code deployed to robot
   □ Radio configured
   □ Dashboard connected
   □ Camera streams verified
   □ Battery voltage checked

3. Backup Preparation:
   □ Code backed up to USB
   □ Configuration files saved
   □ Documentation accessible
   □ Emergency procedures reviewed

Match Procedure

1. Pre-Match:
   □ Battery voltage verified
   □ Systems check complete
   □ Autonomous mode selected
   □ Connection verified
   □ Dashboard receiving data

2. During Match:
   □ Monitor robot status
   □ Watch for error messages
   □ Note any issues

3. Post-Match:
   □ Record match data
   □ Document any issues
   □ Save log files
   □ Update issue tracking

Safety Requirements

Code Safety

1. Motor Safety:
   □ Current limiting enabled
   □ Voltage ramping configured
   □ Position limits set
   □ Watchdog enabled

2. Operation Safety:
   □ Emergency stop tested
   □ Fail-safe modes implemented
   □ Sensor validation
   □ Power monitoring

Testing Requirements

1. New Features:
   □ Unit tests written
   □ Integration tests completed
   □ Simulation tested
   □ Practice bot verified
   □ Safety checks validated

2. Changes to Existing Code:
   □ Regression tests run
   □ Integration verified
   □ Documentation updated
   □ Safety systems checked

Build and Deploy

Build Commands

# Clean build
./gradlew clean

# Build project
./gradlew build

# Run tests
./gradlew test

# Deploy to robot
./gradlew deploy

Deployment Process

1. Practice Bot Testing:
   □ Deploy code
   □ Test all systems
   □ Verify autonomous
   □ Check fail-safes
   □ Document results

2. Competition Bot Deployment:
   □ Code review completed
   □ All tests passing
   □ Practice bot validated
   □ Mentor approval received

Documentation Requirements

Code Documentation

• All public methods must have Javadoc
• Complex logic must be commented
• Constants must be documented
• Safety features must be clearly marked

System Documentation

• Subsystem capabilities and limits
• Autonomous routine descriptions
• Known issues and workarounds
• Configuration procedures
• Emergency procedures

Support

Emergency Procedures

1. Code issues during competition:

   • Access backup code from USB
   • Revert to last known good state
   • Contact available mentors
   • Document all changes

2. Robot communication issues:

   • Check radio connection
   • Verify network configuration
   • Check roboRIO connection
   • Verify dashboard status

Contact Information

Team Contacts:
- Team Email: [team email]
- Mentors:
  - Dan Hiebert
  - Josh Kupka
  - Stephanie
- Student Lead: Taaliyah

Resources

• Team 2408 Wiki
• Game Manual
• WPILib Documentation
• FIRST Robotics Competition
• Chief Delphi

License

This project is licensed under the MIT License - see the LICENSE file for details.