Index Team 2890 Mothman robot code for training reference

sources/2890/mothman-robot-code.md

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+---
+type: source
+id: source.team2890-mothman
+title: Mothman — Team 2890 Robot Code
+domain: robotics
+status: active
+access: gitea-api-token
+sourceType: gitea-repo
+repo: Team2890/Mothman
+url: http://2890.duckdns.org:3002/Team2890/Mothman
+language: Java
+description: 2026 FRC robot code — swerve drive, PathPlanner autonomous, PhotonVision
+tags: [frc, 2890, java, swerve, autonomous, pathplanner, photonvision, yagsl]
+---
+
+# Team 2890 — Mothman Robot Code
+
+**Repo:** http://2890.duckdns.org:3002/Team2890/Mothman
+**Language:** Java (WPILib 2026)
+**Season:** 2026 REBUILT
+
+---
+
+## What's Here
+
+### Subsystems
+- **SwerveSubsystem** — YAGSL swerve drive with field-relative control
+- **Vision** — AprilTag detection via PhotonVision, pose estimation
+- **ClimberSubsystem** — Climber mechanism
+- **IntakeSubsystem** — Game piece intake
+- **ShooterSubsystem** — Scoring shooter
+- **TargetingSubsystems** — Aim assist
+
+### Commands
+- **AbsoluteDriveAdv** — Advanced field-relative swerve drive
+- **AutoBalanceCommand** — Auto leveling on charge station
+- PathPlanner autonomous routines
+
+### Config
+- Swerve module JSON configs (NEO motors)
+- PathPlanner paths + autos
+- Vendor dependencies (Phoenix 5/6, REV, PathPlanner, PhotonVision)
+
+---
+
+## For Training
+
+This codebase demonstrates real FRC programming patterns:
+- Command-based architecture
+- Swerve drive implementation
+- Autonomous path planning
+- Vision processing integration
+
+**C++ note:** Patterns are identical. Syntax differs but logic is the same.