47a8b40fdb
TREE(74): training modules, entity profiles, 2890 references, keyword indices SPROUT(42): knowledge pages, project docs, curated source material SEED(164): daily notes, raw session logs, unprocessed material Updated AUDIT_MANIFEST.json with growth classifications.
159 lines
4.7 KiB
Markdown
159 lines
4.7 KiB
Markdown
---
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type: training-material
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domain: robotics
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subdomain: code-index
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level: reference
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tags: [frc, java, swerve, autonomous, pathplanner, photonvision, yagsl]
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status: active
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source: Team2890 Gitea (Mothman repo)
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growth: tree
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---
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# Team 2890 Codebase Index — Training Reference
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**Source:** http://2890.duckdns.org:3002/Team2890/Mothman
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**Access:** Via Gitea API token (read)
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**Language:** Java (WPILib)
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**Note:** Concepts apply to C++ — syntax differs, patterns identical
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---
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## Repo Structure Overview
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```
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Mothman/
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├── src/main/java/frc/robot/
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│ ├── Constants.java — Robot-wide constants
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│ ├── LimelightHelpers.java — Vision targeting helpers
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│ ├── Main.java — Robot entry point
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│ ├── Robot.java — Main robot class (periodic methods)
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│ ├── RobotContainer.java — Joysticks, commands, subsystems wiring
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│ ├── commands/ — Command classes
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│ └── subsystems/ — Hardware subsystem controllers
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├── src/main/deploy/
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│ ├── pathplanner/ — Autonomous paths + autos
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│ └── swerve/ — Swerve module JSON configs
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└── vendordeps/ — Vendor libraries (Phoenix, REV, etc.)
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```
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---
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## Key Training Resources by Topic
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### 🏎️ Swerve Drive (YAGSL)
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**Config files:**
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- `deploy/swerve/neo/swervedrive.json` — swerve drive config
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- `deploy/swerve/neo/modules/*.json` — per-module PID/physical properties
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**Code:**
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- `subsystems/swervedrive/SwerveSubsystem.java` — main swerve controller
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- `commands/swervedrive/drivebase/AbsoluteDriveAdv.java` — advanced field-relative drive
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**Training value:**
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- YAGSL configuration structure (JSON-based swerve setup)
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- Swerve module characterization
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- Field-relative vs robot-relative control
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---
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### 📍 PathPlanner (Autonomous)
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**Config:**
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- `src/main/deploy/pathplanner/autos/*.auto` — named autonomous routines
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- `src/main/deploy/pathplanner/paths/*.path` — individual path segments
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**Example autos:**
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- `1 Meter Test Auto.auto`
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- `90 Degree Test Auto.auto`
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**Training value:**
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- Auto path structure (waypoints, constraints)
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- PathPlannerLib integration
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- Auto command sequencing
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---
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### 👁️ Vision (PhotonVision + Limelight)
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**Code:**
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- `subsystems/swervedrive/Vision.java` — AprilTag detection, pose estimation
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- `LimelightHelpers.java` — Limelight vision helpers
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**Training value:**
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- Camera pipeline setup (PhotonVision)
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- AprilTag interpretation (field layout)
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- Pose estimation from vision
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---
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### 🎮 Subsystems
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| File | What it Controls |
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|------|------------------|
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| `ClimberSubsystem.java` | Robot climber mechanism |
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| `IntakeSubsystem.java` | Game piece intake |
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| `ShooterSubsystem.java` | Scoring shooter |
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| `TargetingSubsystems.java` | Aim assist |
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**Training value:**
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- Subsystem architecture (commands bound to triggers)
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- Motor controller setup (Phoenix/REV)
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---
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### ⚙️ Vendor Dependencies (vendordeps/)
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| Library | Purpose |
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|---------|---------|
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| `Phoenix5-replay-5.36.0.json` | TalonFX (legacy) |
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| `Phoenix6-replay-26.1.0.json` | TalonFX (new) |
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| `REVLib.json` | NEO, SparkFlex motors |
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| `PathplannerLib-2026.1.2.json` | Auto/path planning |
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| `photonlib.json` | PhotonVision |
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| `yagsl-2026.1.14.json` | Swerve library |
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| `ReduxLib-2026.1.1.json` | Sensors |
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| `Studica-2026.0.0.json` | Contour following |
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| `ThriftyLib-2026.json` | Thrifty cameras |
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---
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## Key Files for C++ Developers
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**For C++ teams learning from Java code:**
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| Pattern | Java (Mothman) | C++ (WPILib) |
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|---------|----------------|--------------|
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| Subsystem class | `extends SubsystemBase` | Inherit `frc::SubsystemBase` |
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| Command binding | `+=` operator | `AddCommands()` |
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| Motor controller | `.set()` | `Set()` |
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| Joystick input | `driver.getRawButton()` | `GetRawButton()` |
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| Auto commands | `pathplanner` | `pathplanner` (same lib) |
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---
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## What to Use for Training
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**For students learning FRC programming:**
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1. Start with `SwerveSubsystem.java` — see swerve control in action
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2. Look at `AbsoluteDriveAdv.java` — field-relative swerve drive logic
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3. Check `RobotContainer.java` — how subsystems + commands + joysticks wire together
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4. Study the path files — how autos are composed from paths
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**For C++ students:**
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- The pattern is identical. Focus on the logic, not the syntax.
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- YAGSL config (JSON) works the same in both languages
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---
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## External Mirrors
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| Repo | URL | Purpose |
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|------|-----|---------|
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| PhotonVision | Team2890/PhotonVision | Vision processing (mirrored from github) |
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| YAGSL | Team2890/YAGSL | Swerve library (mirrored) |
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| allwpilib | Team2890/allwpilib | WPILib source (mirrored) |
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---
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**Access:** `http://2890.duckdns.org:3002/Team2890/Mothman` |