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