GRRBase

A template repository for Java-based robots in the FIRST Robotics Competition.

Code Styling

All Java code follows the styling guide of Prettier. You can apply these rules via Spotless using the command ./gradlew spotlessApply.

Highlights

• Swerve API

  Supports various hardware configurations, from vendors such as CTRE, REV, and Redux Robotics, 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.

• Custom Dashboard

  Includes an autonomous mode selection panel with animated previews of auto trajectories, and can be 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.

• 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.

• Various other utilities