2026 Codebase for FRC Team 846 (Gibbon)

General Project Structure

Code subsystems interact with hardware subsystems by: 1. writing to motors and 2. receiving sensor data. Examples of code subsystems include: driver, pivot, intake.

Commands set targets to these subsystems. Some commands are like actions, such as moving the arm to a setpoint, or deploying the intake. Commands can be compounded to form more complex routines and autos.

Gibbon/
??? src/
?   ??? yearly/                    # Year-specific robot code (2026 season)
?   ?   ??? cpp/                  # Implementation files (.cc)
?   ?   ?   ??? subsystems/       # Subsystem implementations
?   ?   ?   ?   ??? abstract/     # Abstract/logic subsystems
?   ?   ?   ?   ??? hardware/     # Hardware subsystems
?   ?   ?   ??? commands/         # Command implementations
?   ?   ?   ?   ??? general/      # General commands
?   ?   ?   ?   ??? teleop/       # Teleoperated commands
?   ?   ?   ??? calculators/      # Utility calculators
?   ?   ?   ??? autos/            # Autonomous routines
?   ?   ?   ??? FunkyRobot.cc     # Main robot class
?   ?   ??? include/              # Header files (.h)
?   ?   ?   ??? subsystems/       # Subsystem headers
?   ?   ?   ??? commands/         # Command headers
?   ?   ?   ??? autos/            # Autonomous definitions
?   ?   ?   ??? calculators/      # Calculator headers
?   ?   ?   ??? ports.h           # Hardware port definitions
?   ?   ?   ??? robot_constants.h # Robot constants
?   ?   ?   ??? FunkyRobot.h      # Main robot header
?   ?   ??? resources/            # Non-code resources
?   ?       ??? deploy/           # Files deployed to RoboRIO
?   ?       ??? logsclient/       # Log client scripts
?   ?       ??? ntbackup/         # NetworkTables backup
?   ?       ??? swervevis/        # Swerve visualization tools
?   ??? funkit/                   # Custom architecture library
?   ?   ??? cpp/                  # Implementation files
?   ?   ?   ??? funkit/
?   ?   ?       ??? base/         # Base classes (Loggable, logging)
?   ?   ?       ??? control/      # Motor control system
?   ?   ?       ??? math/         # Math utilities
?   ?   ?       ??? robot/        # Robot framework
?   ?   ?       ??? wpilib/       # WPILib utilities
?   ?   ??? include/              # Header files
?   ?       ??? funkit/
?   ?           ??? base/         # Base class headers
?   ?           ??? control/      # Motor control headers
?   ?           ??? math/         # Math utility headers
?   ?           ??? robot/        # Robot framework headers
?   ?           ??? wpilib/       # WPILib utility headers
?   ??? pdcsu_tr12/               # PDCSU library (auto-downloaded)
?   ??? deploy/                   # Files to deploy to RoboRIO
?       ??? autos/                # Scriptable autonomous routines (unused)
??? build/                        # Build outputs (generated)
?   ??? tmp/                      # Build logs
??? vendordeps/                   # Vendor dependency JSON files
?   ??? Phoenix6-26.1.0.json     # CTRE Phoenix 6
?   ??? REVLib.json              # REV Robotics
?   ??? WPILibNewCommands.json   # WPILib commands
??? gradle/                       # Gradle wrapper
??? build.gradle                  # Main build configuration
??? README.md                     # This file

First Time Setup - Windows

--Downloads--

WPILib Tools

• Download WPILib tools and WPILib VSCode. Attached is the link for version 2026.1.1.
  • 2026.1.1 WINDOWS
• Once downloaded, double click on the file. By default, it will be saved in the downloads folder.
• Run the .exe file inside of it. It should be called "WPILib Installer".
• Go through the default setup process.
  • Install everything, NOT tools only.
  • When you get to the installation for WPILib VSCode, select "for this computer only".

Git

• Create a GitHub account (which you should already have if you can access this?).
  • If haven't already, send your username to me so I can add you to our organization. This allows you to modify/edit files.
• Download git-scm from here.
  • For most people, 64-bit standalone installer.
• Run the file downloaded.
• Go through setup process.
  • If unsure, select default options.

If unfamiliar with GitHub, go through tutorials in the Using Git section.

LLVM

• Download LLVM
  • Run the downloaded file, go through setup process.
• If "Add LLVM to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\LLVM\bin to PATH
  • Read this for more information on adding files to PATH.

CppCheck

• Download CppCheck.
• If "Add CppCheck to Path" is an option during setup process, select YES.
  • If not, add C:\Program Files\Cppcheck to PATH
  • Read this for more information on adding files to PATH.

--Setup--

• Clone the repository.
  • Run: git clone https://github.com/Team846/Gibbon.git in terminal.
• Open WPILib VSCode
• In WPILib VSCode, open the folder containing the cloned repository.
  • The path will be path the clone command was run in + Gibbon
• DO NOT change the gradle file. If WPILib VSCode prompts an update to the gradle file, click CANCEL.
• Click on the WPILib icon (the W in the top right corner).
• In the dropdown list, click on C++: Refresh C++ Intellisense.
• If it succeeds, the code has been successfully setup on your computer.
• Read the First Build section.

Deploying:

• When trying to deploy the code to the robot, connect to the robot using either an ethernet cable or by connecting to the radio's network.
• Then, run 'Deploy robot code'.

First Time Setup - MacOS

Read through the setup process on Windows. This section will only outline the differences. You may need to install homebrew.

--Downloads--

Select x64 or arm depending on your chip. If using M1/M2/M3 mac, select arm.

Ignore the LLVM section.

• WPILib 2026.1.1.
• git-scm.
• Clang-format: brew install clang-format
• CppCheck: brew install cppcheck

--Setup--

WPILib VSCode is installed in a hard-to-find directory on MacOS. It is usually located in ~/wpilib/2026/vscode/ and is called "Visual Studio Code". For example it can be located in /Users/funkymonkey/wpilib/2026/vscode. If you need help finding it, ask someone who has previously installed WPILib VSCode on MacOS.

It is a good idea to rename the file or move it into your Applications folder and pin it in dock for easy access and differentiation from normal VSCode.

WPILib VSCode will have a W icon in the top right corner, whereas normal VSCode will not.

First Build

• Click on the WPILib icon in the top right corner of WPILib VSCode.
• Click WPILib: Build Robot Code.
• If the code fails to build, it is most likely your fault. Fix the code you changed.
• If you didn't change anything, then ask me for help.

A first build can take over 10 minutes. Subsequent builds should be under 5 minutes.

Deploying Code to the Robot

• Get permission from a Software Lead.
• Connect to the robot's network or connect directly using an ethernet cable.
• Run WPILib: Deploy Robot Code.
• Do not disconnect, stop, or power-cycle the robot for any reason during the deploy. This may damage the RoboRIO.

Using Git

• What is Git?
• Configure
  • Only read the "Configure Git" section
• Commits
• Branches
• Branch merging
  • Not as important as the other ones

I have old code, I need to update it:

• git pull

I have new code which has been verified by a Software Lead. I need to give others access to it:

• git add . <-- The "." means all files
• git commit -am EXAMPLE_COMMIT_MESSAGE
• git push

I need to switch to a branch:

• git checkout -b NAME_OF_BRANCH <-- to create a new branch
• git checkout NAME_OF_BRANCH <-- to switch to an existing branch

I need to go back to a previous commit:

• git log
• Press SPACE to scroll down and Q (lowercase) to exit.
• Find the hash (the random series of characters/numbers) for the commit you want.
• git checkout HASH

To undo the going back:

• git switch - <-- goes back to latest commit

CppCheck Warnings

src/funkit/cpp/funkit/math/collection.cc:27:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
src/funkit/cpp/funkit/math/collection.cc:55:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
src/funkit/cpp/funkit/math/collection.cc:69:0: warning: The function 'modulo' is never used. [unusedFunction]