FRC Team 9155 - 2026 Robot Code (Rebuilt)

This repository contains the code for the FRC 9155 robot for the 2026 season.

⚡ Hardware Specifications

Swerve Drive (YAGSL)

• Drive Motors: NEO Brushless (controlled by Spark Max)
• Angle Motors: NEO Brushless (controlled by Spark Max)
• Absolute Encoders: CTRE CANCoders
• Gyro (IMU): NavX-MXP (SPI)

Lift Mechanism

• Motors: 2x Brushed Motors (CIM / 775pro / Bag)
• Controllers: 2x REV Spark Max
• Mode: Leader-Follower (Brushed Mode)

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💻 Software Installation Prerequisites

To deploy or edit this code, you must install the following software:

1. Game Tools (Required)

• WPILib 2026 - The core development environment (VS Code, Shuffleboard, Driver Station).
• NI FRC Game Tools 2026 - Drivers for the roboRIO and Driver Station.

2. Vendor Libraries (Already included in vendordeps, but tools are needed)

You need these tools to configure IDs and update firmware:

• REV Hardware Client
  • Used for: Configuring Spark Max controllers (CAN IDs 1-10), setting Motor Type to Brushed/Brushless.
• Phoenix Tuner X
  • Used for: Configuring CANCoders (IDs 10-13).
• PathPlanner
  • Used for: Creating autonomous paths.

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📦 Installed Vendor Dependencies

The project automatically downloads these libraries (defined in vendordeps/):

1. REVLib (2026.0.1) - For Spark Max motor controllers.
2. YAGSL (2026.1.26) - Swerve Drive logic.
3. Phoenix 6 & 5 - For CTRE devices (CANCoders).
4. PathPlannerLib - For Autonomous routines.
5. ReduxLib, Studica, ThriftyLib - Required for YAGSL.

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🎮 Controller Inputs (Xbox Port 0)

• Left Stick: Drive
• Right Stick: Rotate
• Button X: Lift Up
• Button B: Lift Down
• Button A: Reset Gyroscope