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.

training/modules/2890-codebase-index.md

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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)
+---
+
+# Team 2890 Codebase Index — Training Reference
+
+**Source:** http://2890.duckdns.org:3002/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
+
+| File | What it Controls |
+|------|------------------|
+| `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/)
+
+| Library | Purpose |
+|---------|---------|
+| `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:**
+
+| Pattern | Java (Mothman) | C++ (WPILib) |
+|---------|----------------|--------------|
+| Subsystem class | `extends SubsystemBase` | Inherit `frc::SubsystemBase` |
+| Command binding | `+=` operator | `AddCommands()` |
+| Motor controller | `.set()` | `Set()` |
+| Joystick input | `driver.getRawButton()` | `GetRawButton()` |
+| Auto commands | `pathplanner` | `pathplanner` (same lib) |
+
+---
+
+## 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
+
+| Repo | URL | Purpose |
+|------|-----|---------|
+| PhotonVision | Team2890/PhotonVision | Vision processing (mirrored from github) |
+| YAGSL | Team2890/YAGSL | Swerve library (mirrored) |
+| allwpilib | Team2890/allwpilib | WPILib source (mirrored) |
+
+---
+
+**Access:** `http://2890.duckdns.org:3002/Team2890/Mothman`