Team 2890 — Mothman Robot Code
Repo: http://2890.duckdns.org:3002/Team2890/Mothman Language: Java (WPILib 2026) Season: 2026 REBUILT
What’s Here
Subsystems
- SwerveSubsystem — YAGSL swerve drive with field-relative control
- Vision — AprilTag detection via PhotonVision, pose estimation
- ClimberSubsystem — Climber mechanism
- IntakeSubsystem — Game piece intake
- ShooterSubsystem — Scoring shooter
- TargetingSubsystems — Aim assist
Commands
- AbsoluteDriveAdv — Advanced field-relative swerve drive
- AutoBalanceCommand — Auto leveling on charge station
- PathPlanner autonomous routines
Config
- Swerve module JSON configs (NEO motors)
- PathPlanner paths + autos
- Vendor dependencies (Phoenix 5/6, REV, PathPlanner, PhotonVision)
For Training
This codebase demonstrates real FRC programming patterns:
- Command-based architecture
- Swerve drive implementation
- Autonomous path planning
- Vision processing integration
C++ note: Patterns are identical. Syntax differs but logic is the same.