2026-Spectrum

Repo for Spectrum's 2026 robots.

Overview

This repository contains the robot code for Spectrum for the 2026 season. The project is built using the WPILib. It uses a custom library, spectrumLib, for shared utilities.

Key Features

• Swerve Drive: Powered by CTRE Phoenix 6.
• Autonomous: Integrated with PathPlanner for complex path following and auto routines.
• Vision: Uses PhotonLib for vision processing.
• Logging: Uses DogLog for telemetry and logging.
• Subsystems: Includes Swerve, Fuel Intake, Turret (Rotational & Hood), Intake Extension, Indexer, Launcher, and LEDs.

Requirements

• Java Development Kit (JDK) 17
• WPILib 2026

Stack

• Language: Java 17
• Framework: WPILib (Command-Based)
• Package Manager: Gradle (via GradleRIO)
• Vendor Libraries:
  • CTRE Phoenix 6
  • PathPlannerLib
  • PhotonLib
  • DogLog
  • WPILib New Commands

Setup

Installation

1. Clone the repository:

   git clone https://github.com/Spectrum3847/2026-Spectrum.git

2. Open the project in WPILib VS Code.

Project Structure

• src/main/java/frc/robot: Main robot logic.
  • auton/: Autonomous mode definitions and commands.
  • configs/: Configuration sets for different robots (e.g., FM2026).
  • swerve/, fuelIntake/, launcher/, etc.: Subsystem-specific implementations.
• src/main/java/frc/spectrumLib: Shared library code used across multiple robots.
• src/main/deploy: Files deployed to the RoboRIO (PathPlanner paths, autos, etc.).
• vendordeps: JSON files defining vendor library dependencies.