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FRC 6243 - 2026 REBUILT

Eviserator - FRC Team 6243
2026 Competition Robot Code

Build Status Last Commit License Java 17 Gradle

Project Overview

This repository contains the codebase for FRC Team 6243 (Energy NERDs') 2026 robot, Eviserator.

Key Features:

  • WPILib command-based structure
  • AdvantageKit logging and dashboard integration
  • CTRE Phoenix 6 motor control
  • PathPlanner auto routines
  • Swerve drive with field-relative control
  • AprilTag pose fusion (PhotonVision)
  • Dual shooter with dynamic hood/flywheel targets
  • Tunable backrollers for shot control
  • Robust subsystem separation: drive, intake, indexer, shooter, LEDs, vision
  • Comprehensive auto chooser and drive characterization

Status & Activity

Open Issues Open PRs

Controls & Operator Layout

Controller USB Ports:

  • Driver controller: 0
  • Codriver controller: 1

Mappings are defined in src/main/java/frc/robot/RobotContainer.java.

Driver

Control Action
Left stick X/Y Field-relative translation
Right stick X Rotation
A (hold) Snap-to-target (yaw + hood alignment)
X (press) Stow hood
B (toggle) Toggle intake deploy/retract
Left bumper (hold) Intake in
Right bumper (hold) Intake out
Y (hold) Beach alert LED mode

Codriver

Control Action
Left stick Y Manual hood adjust (default hood command)
A (hold) Snap-to-target (yaw + hood alignment)
Left bumper (toggle) Toggle intake deploy/retract
X (hold) Intake in
B (hold) Intake out
Right bumper (hold) Shoot (flywheel + hood request + gated feed)
Right trigger (hold) Indexer unclog (reverse feed)
Y (hold) Beach alert LED mode

LED Indicator Priority

Higher rows override lower rows.

(NOT ADDED TO ROBOT YET)

Priority State Output
1 Drive motor overheated Flashing white rgb(255,255,255)
2 Drive motor disconnected Flashing orange rgb(255,165,0)
3 Beach alert active Rainbow fade animation
4 Invalid shot Flashing red rgb(255,0,0)
5 Auto-align active Solid red rgb(255,0,0)
6 Intake down Solid green rgb(0,255,0)
7 Hood stowed Solid blue rgb(0,0,255)
8 Default LEDs TBD

Hardware Map (Reference)

Note: CAN IDs, bus names, camera names, and IO ports below are reference placeholders. Verify and update to match final robot wiring before running on hardware.

CAN ID conventions

To keep wiring and code consistent we follow a small CAN ID block convention. Update TunerConstants.java and subsystem constructors to match these ranges.

  • Swerve drivetrain

    • Drive motors (odd IDs) — clockwise from front-left: 1, 3, 5, 7
    • Steer motors (even IDs) — clockwise from front-left: 2, 4, 6, 8
    • Azimuth encoders: 41 (FL), 42 (FR), 43 (BL), 44 (BR)
    • Pigeon2 (gyro): 13 (on the swerve CAN bus)

  • Shooter block (recommended 10-19)

    • Hood: 10
    • Flywheel follower: 11
    • Flywheel leader (commands): 12

  • Intake / Indexer block (recommended 20-29)

    • Intake roller: 20
    • Slapdown / deploy motor: 23
    • Feeder: 22
    • Indexer (kicker): 21
    • Hopper rollers (may be labeled "Indexer" in Phoenix tuner): 24

Use these ranges when adding new mechanism motors. If you need a different block, update the README and the constructors that reference the CAN IDs.

Hardware Map (Reference)

IMPORTANT: CAN IDs, bus names, camera names, and IO ports below are reference placeholders. Verify and update to match final robot wiring before running on hardware.

Device Bus / IO Type ID / Port Function / Notes
Intake roller RIO CAN 20 IntakeRoller
Slapdown motor RIO CAN 23 Slapdown
Flywheel leader RIO CAN 12 FlywheelRight (left follows in config, follower=11)
Hood motor RIO CAN 10 Hood
Feeder roller RIO CAN 22 Feeder
Indexer right RIO CAN 24 IndexerRight (same as Slapdown)
Indexer left RIO CAN 23 IndexerLeft (follower of 21)
Pigeon2 Swerve CAN (TunerConstants) 13 Drivetrain gyro
Front Left Drive Swerve CAN (TunerConstants) 1 Swerve module drive motor
Front Left Steer Swerve CAN (TunerConstants) 2 Swerve module steer motor
Front Left Encoder Swerve CAN (TunerConstants) 41 Swerve module azimuth encoder
Front Right Drive Swerve CAN (TunerConstants) 3 Swerve module drive motor
Front Right Steer Swerve CAN (TunerConstants) 4 Swerve module steer motor
Front Right Encoder Swerve CAN (TunerConstants) 42 Swerve module azimuth encoder
Back Left Drive Swerve CAN (TunerConstants) 5 Swerve module drive motor
Back Left Steer Swerve CAN (TunerConstants) 6 Swerve module steer motor
Back Left Encoder Swerve CAN (TunerConstants) 43 Swerve module azimuth encoder
Back Right Drive Swerve CAN (TunerConstants) 7 Swerve module drive motor
Back Right Steer Swerve CAN (TunerConstants) 8 Swerve module steer motor
Back Right Encoder Swerve CAN (TunerConstants) 44 Swerve module azimuth encoder
LED strip PWM 0 Addressable LED strip output
Hood reverse limit DIO 1 Hood reverse travel limit switch
Hood forward limit DIO 2 Hood forward travel limit switch

Vision System

  • AprilTag camera names: camera_0, camera_1
  • Object camera name: camera_object
  • Real robot stack: two cameras for AprilTag detection plus one for gamepiece detection (switches to AprilTag during teleop)
  • Object camera pipeline indices: 0 = AprilTag, 1 = Object detection
  • Runtime behavior: autonomousInit() sets object camera to detection pipeline, teleopInit() sets back to AprilTag pipeline

Simulation & Tuning

This project includes a simulation harness for shot calculation and shooter tuning:

  • Script: runShotCalc.sh (Linux/macOS)
  • Usage: ./runShotCalc.sh [distance1 distance2 ...]
    • If no arguments are given, the script sweeps a range of distances.
    • Outputs calculated hood angle and flywheel RPM for each distance.
  • Tuning: All shooter parameters are exposed as LoggedTunableNumber entries under the ShotTuning/ prefix and can be adjusted live via dashboard tools (AdvantageScope, Shuffleboard, etc.).
  • Live Outputs: Real-time values (e.g., calculated angles, RPMs, shot validity) are logged under the ShotCalculator/ and Hood/ prefixes for easy monitoring and analysis.

Setup Checklist

  1. Set drivetrain CAN bus name in src/main/java/frc/robot/generated/TunerConstants.java.
  2. Validate all CAN IDs, DIO, and PWM assignments.
  3. Confirm vision device names and object-camera pipeline indices.
  4. Verify hood limit switch polarity and hood calibration.

Driver

Control Action
Left stick X/Y Field-relative translation
Right stick X Rotation
A (hold) Snap-to-target (yaw + hood alignment)
X (press) Stow hood
B (toggle) Toggle intake deploy/retract
Left bumper (hold) Intake in
Right bumper (hold) Intake out
Y (hold) Beach alert LED mode

Codriver

Control Action
Left stick Y Manual hood adjust (default hood command)
A (hold) Snap-to-target (yaw + hood alignment)
Left bumper (toggle) Toggle intake deploy/retract
X (hold) Intake in
B (hold) Intake out
Right bumper (hold) Shoot (flywheel + hood request + gated feed)
Right trigger (hold) Indexer unclog (reverse feed)
Y (hold) Beach alert LED mode

LED Indicator Priority

Higher rows override lower rows.

Priority State Output
1 Drive motor overheated Flashing white rgb(255,255,255)
2 Drive motor disconnected Flashing orange rgb(255,165,0)
3 Beach alert active Rainbow fade animation
4 Invalid shot Flashing red rgb(255,0,0)
5 Auto-align active Solid red rgb(255,0,0)
6 Intake down Solid green rgb(0,255,0)
7 Hood stowed Solid blue rgb(0,0,255)
8 Default LEDs TBD

Hardware Map (Reference)

IMPORTANT: CAN IDs, bus names, camera names, and IO ports below are reference placeholders. Verify and update to match final robot wiring before running on hardware.

Device Bus / IO Type ID / Port Function / Notes
Intake roller RIO CAN 20 IntakeRoller
Slapdown motor RIO CAN 24 Slapdown
Flywheel leader RIO CAN 12 FlywheelRight (left follows in config, follower=11)
Hood motor RIO CAN 10 Hood
Feeder roller RIO CAN 22 Feeder
Indexer (kicker) RIO CAN 21 IndexerRight (called Kicker in Phoenix tuner)
Hopper rollers RIO CAN 24 Indexer (named Indexer in Phoenix tuner; these are the hopper rollers)
Pigeon2 Swerve CAN (TunerConstants) 13 Drivetrain gyro
Front Left Drive Swerve CAN (TunerConstants) 2 Swerve module drive motor
Front Left Steer Swerve CAN (TunerConstants) 6 Swerve module steer motor
Front Left Encoder Swerve CAN (TunerConstants) 41 Swerve module azimuth encoder
Front Right Drive Swerve CAN (TunerConstants) 3 Swerve module drive motor
Front Right Steer Swerve CAN (TunerConstants) 7 Swerve module steer motor
Front Right Encoder Swerve CAN (TunerConstants) 42 Swerve module azimuth encoder
Back Left Drive Swerve CAN (TunerConstants) 4 Swerve module drive motor
Back Left Steer Swerve CAN (TunerConstants) 8 Swerve module steer motor
Back Left Encoder Swerve CAN (TunerConstants) 43 Swerve module azimuth encoder
Back Right Drive Swerve CAN (TunerConstants) 5 Swerve module drive motor
Back Right Steer Swerve CAN (TunerConstants) 9 Swerve module steer motor
Back Right Encoder Swerve CAN (TunerConstants) 44 Swerve module azimuth encoder
LED strip PWM 0 Addressable LED strip output
Hood reverse limit DIO 1 Hood reverse travel limit switch
Hood forward limit DIO 2 Hood forward travel limit switch

Vision

  • AprilTag camera names: camera_0, camera_1
  • Object camera name: camera_object
  • Real robot stack: two cameras for AprilTag detection plus one for gamepiece detection (switches to Apriltag during teleop).
  • Object camera pipeline indices:
    • 0: AprilTag
    • 1: Object detection
  • Runtime behavior:
    • autonomousInit(): object camera set to detection pipeline.
    • teleopInit(): object camera set back to AprilTag pipeline.

Setup Checklist

  1. Set drivetrain CAN bus name in src/main/java/frc/robot/generated/TunerConstants.java (replace "Default Name").
  2. Validate all CAN IDs, DIO, and PWM assignments.
  3. Confirm vision device names and object-camera pipeline indices.
  4. Verify hood limit switch polarity and hood calibration.

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The codebase for Eviserator, 6243's robot for the 2026 REBUILT season

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