openclaw-wiki/training/modules/2890-codebase-index.md

type, domain, subdomain, level, tags, status, source

type	domain	subdomain	level	tags	status	source
training-material	robotics	code-index	reference	frc java swerve autonomous pathplanner photonvision yagsl	active	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

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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.)

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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

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📍 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

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👁️ 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

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🎮 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)

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⚙️ 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

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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)

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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

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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)

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Access: http://2890.duckdns.org:3002/Team2890/Mothman