FRC Team #11371 Odyssey - Robot Software

Welcome to the official robot code repository for FRC Team #11371 Odyssey. This repository contains the Java-based software utilized to control our competition robot, built atop the modern WPILib ecosystem.

🛠️ Tech Stack & Frameworks

• Language: Java (100%)
• Framework: WPILib (FIRST Robotics Library)
• Architecture: Command-Based Programming
• Tools: SysId (System Identification), DataLogTool, GradleRIO

⚙️ Software Architecture

The codebase strictly follows the Command-Based paradigm enforced by WPILib, decoupling the physical hardware components from the operational robot logic:

• Subsystems: Encapsulates hardware components (motors, sensors, encoders) and defines basic low-level behaviors.
• Commands: Represents high-level, state-driven robot actions (e.g., autonomous routines, teleoperated scoring mechanisms) that require specific subsystems.
• Operator Interface (OI): Maps controller inputs (joysticks, gamepads) to specific commands dynamically.

📈 System Identification & Tuning

This repository includes integration with WPILib SysId for empirical system identification. This allows us to gather data from our drive and mechanism motors to calculate precise feedforward ($kS$, $kV$, $kA$) and feedback ($kP$, $kD$) constants, ensuring optimal PID control loops during competition.

🚀 Getting Started

To open and deploy this project, you need:

1. WPILib VS Code (matching the competition season version)
2. JDK 17 / 21 (bundled with WPILib)

Building the Project

Open the repository in WPILib VS Code and use the WPILib command palette or run:

./gradlew build