---
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.