How mechanical-advantage/robotcode2025public works
RobotCode2025 is the control software for team 6328’s 2025 robot, Manta. The tree also contains Northstar, a camera-vision runtime with camera capture, AprilTag and object-detection workers, calibration, and streamed overlays. The robot-side source excerpts establish the Java startup entry point, but not how its container, commands, and mechanisms are wired; those capabilities are shown as components without speculative links. Northstar’s sampled worker code establishes its internal processing steps, while capture-to-worker dispatch is not shown.
Main entry points: apriltag_worker.py AprilTag worker · objdetect_worker.py Object detection · StreamServer.py MJPEG streaming · overlay_util.py Image overlays
Components 28
Robot runtime
- Java startup
src/main/java/org/littletonrobotics/frc2025/Main.java - Robot lifecycle
src/main/java/org/littletonrobotics/frc2025/Robot.java - Robot container
src/main/java/org/littletonrobotics/frc2025/RobotContainer.java
Robot control
- Robot commands
src/main/java/org/littletonrobotics/frc2025/commands - Swerve drive
src/main/java/org/littletonrobotics/frc2025/subsystems/drive/Drive.java - Drive trajectories
src/main/java/org/littletonrobotics/frc2025/subsystems/drive/trajectory - Superstructure
src/main/java/org/littletonrobotics/frc2025/subsystems/superstructure/Superstructure.java - Intake system
src/main/java/org/littletonrobotics/frc2025/subsystems/intake/Intake.java - Roller systems
src/main/java/org/littletonrobotics/frc2025/subsystems/rollers/RollerSystem.java - Climber
src/main/java/org/littletonrobotics/frc2025/subsystems/climber/Climber.java - Objective tracker
src/main/java/org/littletonrobotics/frc2025/subsystems/objectivetracker/ObjectiveTracker.java - Robot vision
src/main/java/org/littletonrobotics/frc2025/subsystems/vision/Vision.java - Northstar interface
src/main/java/org/littletonrobotics/frc2025/subsystems/vision/VisionIONorthstar.java
Northstar vision
- Frame capture
northstar/pipeline/Capture.py - Camera config
northstar/config - AprilTag worker
northstar/apriltag_worker.py - Object detection
northstar/objdetect_worker.py - Fiducial detection
northstar/pipeline/FiducialDetector.py - Pose estimation
northstar/pipeline/CameraPoseEstimator.py - Tag angles
northstar/pipeline/TagAngleCalculator.py - Object detector
northstar/pipeline/ObjectDetector.py - MJPEG streaming
northstar/output/StreamServer.py - Image overlays
northstar/output/overlay_util.py
Camera support
- Camera calibration
northstar/calibration/CalibrationSession.py - macOS capture
northstar/ns-iokit-ctl/openpnp-capture/common/context.h - Camera controls
northstar/ns-iokit-ctl/main.cpp
Other components
- Robot operator
- Camera
Connections 10
- Java startup → Robot lifecycle: starts
- AprilTag worker → Fiducial detection: detects tags
- AprilTag worker → Pose estimation: estimates pose
- AprilTag worker → Tag angles: calculates angles
- AprilTag worker → MJPEG streaming: streams frames
- AprilTag worker → Image overlays: draws overlays
- Object detection → Object detector: detects objects
- Object detection → MJPEG streaming: streams frames
- Object detection → Image overlays: draws overlays
- Camera → Frame capture: provides frames