learning-garden/training/modules/2890-codebase-index.md

---
type: training-material
domain: robotics
subdomain: code-index
level: reference
tags: [frc, java, swerve, autonomous, pathplanner, photonvision, yagsl]
status: active
source: Team2890 Gitea (Mothman repo)
growth: tree
---

# Team 2890 Codebase Index — Training Reference

**Source:** https://gitea.hawkcollective2890.com/Team2890/Mothman
**Access:** Via Gitea API token (read)
**Language:** Java (WPILib)
**Note:** Concepts apply to C++ — syntax differs, patterns identical

---

## Repo Structure Overview

```
Mothman/
├── src/main/java/frc/robot/
│   ├── Constants.java          — Robot-wide constants
│   ├── LimelightHelpers.java  — Vision targeting helpers
│   ├── Main.java              — Robot entry point
│   ├── Robot.java             — Main robot class (periodic methods)
│   ├── RobotContainer.java    — Joysticks, commands, subsystems wiring
│   ├── commands/              — Command classes
│   └── subsystems/           — Hardware subsystem controllers
├── src/main/deploy/
│   ├── pathplanner/          — Autonomous paths + autos
│   └── swerve/              — Swerve module JSON configs
└── vendordeps/              — Vendor libraries (Phoenix, REV, etc.)
```

---

## Key Training Resources by Topic

### 🏎️ Swerve Drive (YAGSL)

**Config files:**
- `deploy/swerve/neo/swervedrive.json` — swerve drive config
- `deploy/swerve/neo/modules/*.json` — per-module PID/physical properties

**Code:**
- `subsystems/swervedrive/SwerveSubsystem.java` — main swerve controller
- `commands/swervedrive/drivebase/AbsoluteDriveAdv.java` — advanced field-relative drive

**Training value:**
- YAGSL configuration structure (JSON-based swerve setup)
- Swerve module characterization
- Field-relative vs robot-relative control

---

### 📍 PathPlanner (Autonomous)

**Config:**
- `src/main/deploy/pathplanner/autos/*.auto` — named autonomous routines
- `src/main/deploy/pathplanner/paths/*.path` — individual path segments

**Example autos:**
- `1 Meter Test Auto.auto`
- `90 Degree Test Auto.auto`

**Training value:**
- Auto path structure (waypoints, constraints)
- PathPlannerLib integration
- Auto command sequencing

---

### 👁️ Vision (PhotonVision + Limelight)

**Code:**
- `subsystems/swervedrive/Vision.java` — AprilTag detection, pose estimation
- `LimelightHelpers.java` — Limelight vision helpers

**Training value:**
- Camera pipeline setup (PhotonVision)
- AprilTag interpretation (field layout)
- Pose estimation from vision

---

### 🎮 Subsystems

- `ClimberSubsystem.java` — Robot climber mechanism
- `IntakeSubsystem.java` — Game piece intake
- `ShooterSubsystem.java` — Scoring shooter
- `TargetingSubsystems.java` — Aim assist

**Training value:**
- Subsystem architecture (commands bound to triggers)
- Motor controller setup (Phoenix/REV)

---

### ⚙️ Vendor Dependencies (vendordeps/)

- `Phoenix5-replay-5.36.0.json` — TalonFX (legacy)
- `Phoenix6-replay-26.1.0.json` — TalonFX (new)
- `REVLib.json` — NEO, SparkFlex motors
- `PathplannerLib-2026.1.2.json` — Auto/path planning
- `photonlib.json` — PhotonVision
- `yagsl-2026.1.14.json` — Swerve library
- `ReduxLib-2026.1.1.json` — Sensors
- `Studica-2026.0.0.json` — Contour following
- `ThriftyLib-2026.json` — Thrifty cameras

---

## Key Files for C++ Developers

**For C++ teams learning from Java code:**

- **Subsystem class** — Java: `extends SubsystemBase` → C++: Inherit `frc::SubsystemBase`
- **Command binding** — Java: `+=` operator → C++: `AddCommands()`
- **Motor controller** — Java: `.set()` → C++: `Set()`
- **Joystick input** — Java: `driver.getRawButton()` → C++: `GetRawButton()`
- **Auto commands** — `pathplanner` (same library in both languages)

---

## What to Use for Training

**For students learning FRC programming:**
1. Start with `SwerveSubsystem.java` — see swerve control in action
2. Look at `AbsoluteDriveAdv.java` — field-relative swerve drive logic
3. Check `RobotContainer.java` — how subsystems + commands + joysticks wire together
4. Study the path files — how autos are composed from paths

**For C++ students:**
- The pattern is identical. Focus on the logic, not the syntax.
- YAGSL config (JSON) works the same in both languages

---

## External Mirrors

- **PhotonVision** → Team2890/PhotonVision — Vision processing (mirrored from github)
- **YAGSL** → Team2890/YAGSL — Swerve library (mirrored)
- **allwpilib** → Team2890/allwpilib — WPILib source (mirrored)

---

**Access:** `https://gitea.hawkcollective2890.com/Team2890/Mothman`