Open source · Author · 2026-07
FRC Robot Template
A state-based WPILib 2026 Java template with full AdvantageKit deterministic replay.
A batteries-included Java robot template for teams starting a season from scratch. Swerve, PathPlanner, and Choreo autonomous with on-the-fly pathfinding, AdvantageKit logging into AdvantageScope, and physics simulation with unit tests, all driven from one Constants file and coordinated by one Superstructure state machine.
Discipline Breakdown
What This Was, per Discipline
A state machine architecture with an IO abstraction layer under every subsystem, unit tested and simulated, written so a student can fill in a mechanism without understanding the whole.
Swerve kinematics, closed loop control, PathPlanner and Choreo autonomous with on-the-fly pathfinding, and shoot-on-the-move aiming.
Written as a teaching artefact: one Constants file, fill-in-the-blank mechanisms, and documentation aimed at a team with no prior software mentor.
Every subsystem, including the swerve drivetrain, sits behind an IO hardware abstraction layer, so a recorded match replays bit for bit. Every mechanism has both a Kraken X60 and a NEO implementation, switchable with one constant, and the vision backend switches between Limelight and PhotonVision the same way.
It ships fill-in-the-blank mechanisms for an elevator, arm, wrist, turret, shooter, intake, indexer, end effector, climber, and CANdle LEDs. It builds, tests, and simulates out of the box with placeholders, which is the part most templates skip and the part a team starting in January actually needs.
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