Auto-publish: training content update 2026-05-20 17:21:08

2026-05-20 17:21:08 +00:00
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---
-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`