Skip to content

AGENTS.md

Latest commit

 

History

History
59 lines (47 loc) · 3.17 KB

AGENTS.md

File metadata and controls

59 lines (47 loc) · 3.17 KB

AI Agent Guide for Rebuilt2026

This documentation describes the architecture, patterns, and workflows for the Rebuilt2026 FRC robot codebase.

⚡ Quick Start

  • Build: ./gradlew build
  • Deploy: ./gradlew deploy
  • Simulate: ./gradlew simulateJava
  • Language: Java 17
  • Dependencies: WPILib, Monologue, PathPlanner, Phoenix 6, REVLib

🏗 Architecture & Code Organization

The project is split into two main packages:

  1. frc.robot: The specific robot implementation (subsystems, commands, mappings).
  2. frc.excalib: A reusable library containing core frameworks (Swerve, Motor wrappers, Math utils).

The Superstructure Pattern

  • Role: Coordinates state and interactions between multiple subsystems (e.g., aiming Turret while spinning up Shooter).
  • Location: src/main/java/frc/robot/superstructure/Superstructure.java.
  • Pattern: RobotContainer initializes Superstructure, which in turn initializes and holds references to subsystems like Intake, Shooter, Transport, Turret.

Subsystem Abstractions (frc.excalib)

Avoid using raw vendor classes (like TalonFX) directly in subsystems. Use the project's wrappers:

  • Motors: frc.excalib.control.motor.controllers.TalonFXMotor wraps TalonFX (Phoenix6).
  • Groups: frc.excalib.control.motor.controllers.MotorGroup for followers.
  • Mechanisms: frc.excalib.mechanisms.Mechanism provides a base for controlled mechanisms (PID, Feedforward).

📝 Coding Patterns

Logging (Monologue)

All subsystems and logic classes should implement monologue.Logged.

  • Use the @Log annotation for fields to be logged.
  • RobotContainer acts as the root of the log tree.

Autonomous

  • PathPlanner: Used for auto routines.
  • AutoBuilder: Configured in Swerve.java.
  • Registration: Register named commands in RobotContainer.registerCommands(): 
    NamedCommands.registerCommand("shoot", new InstantCommand(...));
  • Chooser: AutoBuilder.buildAuto(name) is used in RobotContainer to prompt the dashboard chooser.

Command Structure

  • Commands: Define complex behaviors in frc.robot.commands.
  • Inline Commands: Prefer defining simple composition in RobotContainer.configureBindings() using factories (e.g., .alongWith()).
  • Factories: Subsystems expose Command factories (e.g., shooter.shootCommand()) rather than raw methods.

🛠 Key Files

  • src/main/java/frc/robot/RobotContainer.java: Main entry point for binding controls and autos.
  • src/main/java/frc/robot/Constants.java: Centralized constants file.
  • src/main/java/frc/robot/superstructure/Superstructure.java: High-level robot logic and subsystem instantiation.
  • src/main/java/frc/excalib/swerve/Swerve.java: Custom Swerve implementation with PathPlanner and Odyssey integration.

⚠️ Gotchas

  • Vendor Deps: Wrappers in frc.excalib effectively hide the vendor implementation. Check the wrapper before assuming a vendor method exists.
  • Vision: AuroraPoseGetter and AuroraClient in frc.excalib handle vision updates, integrated into RobotContainer.periodic() and Swerve.
  • Coordinates: Uses standard WPILib field coordinates (blue alliance origin).