How stmarobotics/frc-7028-2026-2 works
This is FRC Team 7028’s 2026 competition robot code. The principal workflow maps driver input to command bindings, which coordinate drivetrain and game-piece mechanisms for intake, aiming, and shooting. The robot also supports PathPlanner autonomous routines, vision-assisted localization, LEDs, and mechanism characterization. The sampled files establish several command-to-subsystem interactions and the localization callback; wiring inside unsampled modules is shown only where RobotContainer’s excerpt documents it. Autonomous path assets are present, but their runtime loading details are not sampled.
Main entry points: RobotContainer.java Robot Container · ShootAtTargetCommand.java Aim And Shoot · LocalizationSubsystem.java Vision Localization · ControlBindings.java Control Bindings
Components 23
Robot Runtime
- Robot Entry
src/main/java/frc/robot/Main.java - Robot Lifecycle
src/main/java/frc/robot/Robot.java - Robot Container
src/main/java/frc/robot/RobotContainer.java
Controls And Commands
- Control Bindings
src/main/java/frc/robot/controls/ControlBindings.java - Xbox Bindings
src/main/java/frc/robot/controls/XBoxControlBindings.java - Joystick Bindings
src/main/java/frc/robot/controls/JoystickControlBindings.java - Command Factory
src/main/java/frc/robot/CommandFactory.java - Aim And Shoot
src/main/java/frc/robot/commands/ShootAtTargetCommand.java - Intake Shoot Sequence
src/main/java/frc/robot/commands/IntakeShootingSequence.java - Intake Commands
src/main/java/frc/robot/commands/IntakeCommand.java
Robot Systems
- Swerve Drivetrain
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java - Intake Mechanism
src/main/java/frc/robot/subsystems/IntakeSubsytem.java - Shooter
src/main/java/frc/robot/subsystems/ShooterSubsystem.java - Feeder
src/main/java/frc/robot/subsystems/FeederSubsystem.java - Indexer
src/main/java/frc/robot/subsystems/IndexerSubsystem.java - LED System
src/main/java/frc/robot/subsystems/LEDSubsystem.java
Autonomous And Vision
- Vision Localization
src/main/java/frc/robot/subsystems/LocalizationSubsystem.java - Vision Measurement Consumer
src/main/java/frc/robot/VisionMeasurementConsumer.java - Autonomous Path Assets
src/main/deploy/pathplanner/autos - Path Definitions
src/main/deploy/pathplanner/paths - Limelight Configurations
limelight_configs
Other components
- Driver
- Driver Station
Connections 26
- Robot Entry → Robot Lifecycle: starts
- Robot Lifecycle → Robot Container: initializes
- Driver → Xbox Bindings: operates
- Driver → Joystick Bindings: operates
- Xbox Bindings → Control Bindings: implements
- Joystick Bindings → Control Bindings: implements
- Robot Container → Control Bindings: configures
- Robot Container → Command Factory: creates commands
- Robot Container → Swerve Drivetrain: configures
- Robot Container → Vision Localization: constructs
- Vision Localization → Swerve Drivetrain: submits measurements
- Robot Container → Autonomous Path Assets: registers named commands
- Autonomous Path Assets → Path Definitions: references paths
- Robot Container → Intake Commands: sets default
- Robot Container → LED System: sets LED default
- Aim And Shoot → Swerve Drivetrain: aims and brakes
- Aim And Shoot → Shooter: sets speed
- Aim And Shoot → Feeder: feeds
- Aim And Shoot → Indexer: feeds
- Aim And Shoot → Intake Shoot Sequence: executes
- Intake Shoot Sequence → Intake Mechanism: controls
- Aim And Shoot → LED System: signals status
- Intake Commands → Intake Mechanism: controls
- Robot Container → Driver Station: publishes characterization
- Vision Measurement Consumer → Vision Localization: provides measurements
- Limelight Configurations → Vision Measurement Consumer: configures vision