KelRot 5655 | 2026 Season Rebuilt Template

This repository serves as the official 2026 Season Rebuilt Template for FRC Team 5655 KelRot. It is designed to provide a robust, competitive foundation for the upcoming season, integrating modern FRC software libraries and best practices.

Built upon AdvantageKit and Maple-Sim, this template supports advanced logging, simulation, and reliable swerve drive control.

Key Features

• AdvantageKit Integration: Advanced log-replay functionality for faster debugging and tuning.
• Physics Simulation: Integrated Maple-Sim for realistic swerve drive physics in simulation.
• Advanced Control:
  • Motion Profiling: Custom SCurveProfile and ExponentialPID classes for smooth motion control.
  • Swerve Drive: Pre-configured support for REV SparkMax/Flex swerve modules.
• Utilities:
  • LED System: Comprehensive Led subsystem for robot state visualization.
  • Battery Monitoring: BatteryUtils for tracking voltage sag and power usage.
  • Tunable Numbers: LoggedTunableNumber for real-time dashboard tuning without code deploys.
• Code Quality: Pre-configured Spotless formatting and structured Command-Based architecture.

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🚀 Getting Started

Prerequisites

• Operating System: Windows 10/11, macOS, or Linux.
• WPILib 2025/2026: The latest FRC Game Tools and Software.

WPILib Installation Guide

To develop code for this project, you must interpret the official WPILib development environment. Follow these steps:

1. Download the Installer

• Visit the official WPILib Releases Page on GitHub.
• Download the latest release installer for your operating system (e.g., WPILib_Windows-2026.x.x.iso).

2. Run the Installer

• Windows: Right-click the downloaded .iso file and select Mount. Open the mounted drive and run WPILibInstaller.exe.
• macOS/Linux: Extract the downloaded archive and run the installer script.

3. Installation Steps

1. Welcome Screen: Click Start.
2. Select Install Type: Choose "Install for this User" (Recommended).
3. VS Code Options:
   • If you don't have VS Code installed, let the installer download and install it.
   • If you strictly want to use an existing install, select it, but the "Included VS Code" is safer for compatibility.
4. Confirm: Click Install. The installer will set up the JDK, C++ Compiler, VS Code, and WPILib extensions.
5. Finish: Once complete, you will see a new shortcut on your desktop labeled "FRC VS Code".

Important: Always open this project using the "FRC VS Code" shortcut, not the standard VS Code shortcut.

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Project Setup

1. Clone the Repository:

   git clone https://github.com/KelRot/lib.git
   cd 2026-library-lastversion

2. Open in FRC VS Code:

   • Launch FRC VS Code.
   • Go to File > Open Folder... and select the repository folder.

3. Build the Code:

   • Press Ctrl+Shift+P (Windows) or Cmd+Shift+P (macOS) to open the Command Palette.
   • Type and select WPILib: Build Robot Code.
   • The first build may take a few minutes as it downloads dependencies (vendor libraries, etc.).

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🎮 Simulation

This template supports high-fidelity simulation using Maple-Sim.

1. Ensure you have AdvantageScope installed.
2. In FRC VS Code, press F5 or verify the target is set to Simulation.
3. When the simulation launches, open AdvantageScope.
4. Connect to the simulator within AdvantageScope to visualize the robot's motion and logs.

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🛠 Maintenance

• Formatting: This project uses Spotless to enforce code style. Run the following command to fix formatting issues automatically:

  ./gradlew spotlessApply

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Maintained by FRC Team 5655 KelRot