Robot-Code-2025-OffSeason

FRC Team Ninjas#4744's robot code for the 2025 FRC game REEFSCAPE (Offseason Edition).

Organization

• auto drive – Autonomous routines in teleop, including auto-driving to the closest side of the reef and game piece output.
• statemachine – state machine system integrated with WPILib commands for easier and safer code design.
• constants – General constants for drivetrain, mechanisms, and sensors.
• subsystems – Each subsystem has its IO according to AdvantageKit usage.
• NinjasLib – Our custom library providing reusable FRC utilities, math helpers, hardware abstractions, swerve and vision.

Notable Features

• State Machine + WPILib Commands – Combines the predictability of finite state machines with the flexibility of command-based programming.
• AdvantageKit Logging – Robust data logging for debugging and performance analysis.
• Robot Physics Simulation – Realistic simulation of drivetrain and mechanisms for testing without hardware.
• Automated Driving – Automatic navigation to the reef and controlled scoring/output sequences.
• NinjasLib – Internal utility framework used across multiple Ninjas robots.

General Setup

1. Clone this repo
2. Build:

   ./gradlew build

3. Deploy on robot:

   ./gradlew deploy

4. Simulate on PC:

   ./gradlew simulateJavaRelease
   

Development Environment

1. Visual Studio Code (Official WPILib IDE)
2. Jetbrains IntelliJ IDEA
3. AdvantageScope for debugging
4. Elastic for real-time data during games
5. Pathplanner for planning autos