This is a template repository for starting a new WPILib robot project using AdvantageKit. It provides support for TalonFX and SparkMAX powered drivetrains, as well as April Tag field tracking with Limelight and full robot simulation with code replay.

Getting Started

Click on the "Use this template" button at the top of the repository (or the one directly below this)

Clone the repository, then change the team number in the .wpilib/wpilib_preferences.json file.

Note: You will need the 2024 beta version of WPILib VSCode and 2024_v2.0 beta roboRIO image installed to run this properly. You can download both from the WPILib Releases Page

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When deploying code to your robot, you'll need to change the value of currentMode to Mode.REAL in Constants.java

Other values to adjust

Drive.java

• MAX_LINEAR_SPEED , TRACK_WIDTH_X , TRACK_WIDTH_Y

GyroIOPigeon2.java

• pigeon

Module.java

• WHEEL_RADIUS

ModuleIOTalonFX.java or ModuleIOSparkMax.java

• DRIVE_GEAR_RATIO, TURN_GEAR_RATIO, IS_TURN_MOTOR_INVERTED, along with all drive, turn, CANcoder, CANbus, and absoluteEncoderOffsets values

Credits

This project is heavily based on example code from Team 6328 - Mechanical Advantage from their AdvantageKit repository