Code Orange's (3476) Reefscape 2025 Offseason Bot's repository

See also https://github.com/FRC3476/StreamDeck2025 for the driver station side Stream Deck code, thanks mainly to Robocubs, https://github.com/Robocubs/2024-StreamDeck.

Much of the robot code is inspired by Team 254's 2025 code at https://github.com/Team254/FRC-2025-Public.

Field Information and trackers specific to the Reefscape field.

arbitraryTriggers Robot triggers that are independent of human input. As highlights, these include automatic dejamming of the coral intake and some automatic state transitions.

auto Setup for named commands for Pathplanner autonomous mode.

commands Subclassed commands, especially autoalign and score sequence commands.

generated Files from CTRE's swerve generator.

humanControls Setup for controls via the driver's xbox controller, the operator's Stream Deck, and various test and debug controls available on an elastic dashboard (dashboard/elastic-layout.json contains an Elastic layout to use these buttons).

subsystems Contains a folder for each subsystem with an IO-style structure. Contains superstructure, a state machine that controls the elevator and end effector. State transition paths are solved using A*. See also Team 254's implementation. Contains vision, which includes full pose estimation for both the robot and detected game pieces.

util Contains various utility functions. As a highlight, see MotorStallDetection used for various automated robot behaviors.

util/Controls/ElasticButton Convenient setup for buttons intended for use on an Elastic dashboard.

util/Controls/StreamDeck Robot-side code for using a Stream Deck as a controller. See also the driver station side above.