A template repository for Java-based robots in the FIRST Robotics Competition.
All Java code follows the styling guide of Prettier. You can apply these rules via Spotless using the command ./gradlew spotlessApply
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Swerve API
Supporting for various hardware configurations, from vendors such as CTRE, REV, and Redux Robotics, an easy-to-use and heavily configurable swerve API is included, with features such as high frequency odometry, a custom ratelimiter to improve driver control while also reducing wheel scrub, and built-in support for tuning the drivetrain's configuration live via NetworkTables.
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Custom Dashboard
The included dashboard, made using Svelte + Tauri, includes an autonomous mode selection panel with animated previews of auto trajectories, and can be easily extended to add season-specific features. The dashboard also includes a menu to tune properties of the robot live in conjunction with the robot-side Tunable API, reducing the hassle and time required for tasks such as PID tuning.
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Pre-defined Loggers
Utilizing Epilogue, an annotation-based logging framework, custom loggers for vendor and WPILib APIs are pre-defined to transparently log relevant data from the robot's hardware without any extra setup required.
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Various other utilities