How steelhawks/rebuilt2026 works
Shaquille O’Steel is Steel Hawks’ 2026 FRC robot code, with a separate browser-based shot-solver tool. The robot’s principal workflow is driver control through teleoperated commands to drivetrain and robot mechanisms; vision and pose state support field-aware behavior, while autonomous and shooting capabilities are represented by their source modules. The sampled code confirms the robot entry point, teleop-to-swerve behavior, and shot-solver wiring. Other robot subsystem connections are not shown because their source was not sampled.
Main entry points: app.js Solver interface · TeleopSwerve.java Teleop driving · Main.java Robot entry · Robot.java Robot lifecycle
Components 27
Robot runtime
- Robot entry
src/main/java/org/steelhawks/Main.java - Robot lifecycle
src/main/java/org/steelhawks/Robot.java - Robot bindings
src/main/java/org/steelhawks/RobotContainer.java - Autonomous routines
src/main/java/org/steelhawks/Autos.java
Drive and sensing
- Teleop driving
src/main/java/org/steelhawks/commands/TeleopSwerve.java - Swerve drive
src/main/java/org/steelhawks/subsystems/swerve/Swerve.java - Robot pose state
src/main/java/org/steelhawks/RobotState.java - Vision localization
src/main/java/org/steelhawks/subsystems/vision/Vision.java - Object vision
src/main/java/org/steelhawks/subsystems/vision/objdetect/ObjectVision.java
Robot mechanisms
- Shooting commands
src/main/java/org/steelhawks/commands/ShootingCommands.java - Shooter calculations
src/main/java/org/steelhawks/subsystems/superstructure/ShooterStructure.java - Hood mechanism
src/main/java/org/steelhawks/subsystems/superstructure/hood/Hood.java - Turret mechanism
src/main/java/org/steelhawks/subsystems/superstructure/turret/Turret.java - Flywheel mechanism
src/main/java/org/steelhawks/subsystems/superstructure/flywheel/Flywheel.java - Intake mechanism
src/main/java/org/steelhawks/subsystems/intake/Intake.java - Indexer mechanism
src/main/java/org/steelhawks/subsystems/indexer/Indexer.java - Beam sensing
src/main/java/org/steelhawks/subsystems/beam/BeamIO.java
Operator feedback
- LED display
src/main/java/org/steelhawks/subsystems/led/LEDMatrix.java - Controller rumble
src/main/java/org/steelhawks/commands/rumble/VibrateController.java
Shot solver
- Solver interface
tools/shot-solver/src/app.js - Shot envelope solver
tools/shot-solver/src/solver.js - Trajectory physics
tools/shot-solver/src/physics.js - Wheel slip model
tools/shot-solver/src/slip.js - Solver plots
tools/shot-solver/src/plots.js - Lookup generation
tools/shot-solver/src/lut.js
Other components
- Driver station
- Shot-planning user
Connections 10
- Robot entry → Robot lifecycle: starts
- Driver station → Teleop driving: controls
- Teleop driving → Swerve drive: commands
- Teleop driving → Robot pose state: reads pose
- Shot-planning user → Solver interface: sets inputs
- Solver interface → Shot envelope solver: solves envelope
- Solver interface → Solver plots: draws plots
- Solver interface → Wheel slip model: calculates wheel speed
- Solver interface → Trajectory physics: simulates flight time
- Solver interface → Lookup generation: generates lookup