Rebuilt — FRC 2363 2026 Robot Code

Java robot code for the 2026 FRC season, built on WPILib and AdvantageKit.

---

Requirements

• WPILib 2026 (includes Java 17 and VS Code extensions)
• A roboRIO-connected robot or simulation environment

---

Building

Use the Gradle wrapper — no separate Gradle installation needed.

Build (compile + check):

./gradlew build

Deploy to robot:

./gradlew deploy

Run in simulation:

./gradlew simulateJava

---

Code Formatting

This project uses Spotless with Google Java Format. Formatting is applied automatically on every build.

Apply formatting manually:

./gradlew spotlessApply

Check formatting without modifying files:

./gradlew spotlessCheck

CI will fail if spotlessCheck does not pass. Always run spotlessApply before pushing.

---

AdvantageScope Custom Assets

The ascope-assets/ directory contains custom robot models and camera configurations for AdvantageScope.

To enable them in AdvantageScope:

1. Open AdvantageScope.
2. Go to Help → Show App Directory (or press Cmd/Ctrl+Shift+.).
3. In your AdvantageScope settings (or via File → Preferences), set the Custom Assets folder to the ascope-assets/ directory in this repository.
   • Example path: /path/to/Rebuilt/ascope-assets
4. Restart AdvantageScope. The robot model and camera views will appear in the 3D field viewer.

---

Utility Controls

Align Encoders

Resets the swerve drive absolute encoders. This can be triggered while the robot is disabled.

1. Open Glass.
2. Go to NetworkTables → Triggers → Align Encoders.
3. Toggle the value to true.

---

Simulation

Keyboard Driver

When running in simulation, a keyboard (Keyboard 0) can be used as a driver controller. WASD controls translation and axis 2 controls rotation. Z resets heading.

Configuring rotation (axis 2) for left/right arrow keys:

Note: These settings are not persistent and must be re-applied each time the simulator is opened.

1. Open the sim Driver Station.
2. Go to DS → Keyboard 0 settings.
3. Update the axis 2 bindings:

Setting	Default	Change to
Increase key	e	Right arrow
Decrease key	r	Left arrow
Key rate	0.01	0.050
Decay rate	0	0.050
Max absolute value	1.0	1.0

---

Contributing

1. Fork or branch from main.
2. Run ./gradlew build locally to verify your changes compile and pass formatting.
3. Open a pull request targeting main. CI will run a build check and Spotless formatting check automatically.
4. Keep PRs focused — one feature or fix per PR.