A cute pink circular turret bot, competing at CalGames 2024.
Since we're using AdvantageKit, we follow the IO-layer-based, command-based, project structure similar to MechanicalAdvantage.
The dependencies we use are (besides WPILIB):
- AdvantageKit: logging library (saved to file)
- Monologue: also a logging library, but for sending things to NT for the dashboard
- Phoenix 6 & 5 (for the CANdle): library for interfacing with CTRE hardware
- Choreo: optimized auto path, generated ahead of time
- Pathplanner: auto path composition & dynamic path generation
- ..and Limelight's single-file library
Other than the typical FRC code structure scaffold, we also have GitHub Actions and some scripts to help with deployment.
We use Spotless for formatting (run ./gradlew spotlessApply) and follow conventional commits.