How team236/2026-robot works
This is a command-based FRC robot program. Driver/operator inputs and autonomous selection enter through RobotContainer, which binds commands to mechanisms; commands then operate drivetrain, fuel-handling, shooter, and climbing subsystems. The sampled code confirms teleop drive, hub targeting, PathPlanner configuration, and a coordinated shooting command. Other command families are represented from the source tree; their detailed wiring is not established by the excerpts.
Main entry points: RobotContainer.java Bindings and chooser · PIDShoot.java Coordinated shooting · Swerve.java Swerve drivetrain · PreFeeder Pre-feeder commands
Components 24
Robot control
- Robot lifecycle
src/main/java/frc/robot/Robot.java - Bindings and chooser
src/main/java/frc/robot/RobotContainer.java
Drive and targeting
- Teleop drive
src/main/java/frc/robot/commands/TeleopSwerve.java - Targeting commands
src/main/java/frc/robot/commands/Targeting - Swerve drivetrain
src/main/java/frc/robot/subsystems/Swerve.java - Swerve modules
src/main/java/frc/robot/SwerveModule.java - PathPlanner autos
src/main/java/frc/robot/commands/PathPlanner
Fuel handling
- Coordinated shooting
src/main/java/frc/robot/commands/FuelShooting/PIDShoot.java - Intake commands
src/main/java/frc/robot/commands/Intake - Pre-feeder commands
src/main/java/frc/robot/commands/PreFeeder - Floor commands
src/main/java/frc/robot/commands/Floor - Intake subsystem
src/main/java/frc/robot/subsystems/Intake.java - Pre-feeder subsystem
src/main/java/frc/robot/subsystems/PreFeeder.java - Floor subsystem
src/main/java/frc/robot/subsystems/Floor.java
Shooter and climb
- Pivot commands
src/main/java/frc/robot/commands/ShooterPivotCommands - Bin commands
src/main/java/frc/robot/commands/BinRelease - Climber commands
src/main/java/frc/robot/commands/ClimberCommands - Shooter pivot
src/main/java/frc/robot/subsystems/ShooterPivot.java - Main roller
src/main/java/frc/robot/subsystems/MainRoller.java - Bin release
src/main/java/frc/robot/subsystems/BinRelease.java - Climber
src/main/java/frc/robot/subsystems/Climber.java
Other components
- Driver/operator
- PathPlanner
- Limelight camera
Connections 30
- Robot lifecycle → Bindings and chooser: creates
- Driver/operator → Bindings and chooser: supplies controls
- Bindings and chooser → Teleop drive: binds controls
- Bindings and chooser → Targeting commands: binds commands
- Bindings and chooser → PathPlanner autos: selects autonomous
- Bindings and chooser → Coordinated shooting: binds shooting
- Bindings and chooser → Intake commands: binds commands
- Bindings and chooser → Pre-feeder commands: binds commands
- Bindings and chooser → Floor commands: binds commands
- Bindings and chooser → Pivot commands: binds commands
- Bindings and chooser → Bin commands: binds commands
- Bindings and chooser → Climber commands: binds commands
- Teleop drive → Swerve drivetrain: drives
- Targeting commands → Swerve drivetrain: targets and drives
- Swerve drivetrain → Swerve modules: commands modules
- Swerve drivetrain → PathPlanner: configures paths
- PathPlanner autos → PathPlanner: runs autos
- Swerve drivetrain → Limelight camera: reads pose data
- Coordinated shooting → Main roller: controls speed
- Coordinated shooting → Pre-feeder subsystem: feeds fuel
- Coordinated shooting → Floor commands: runs floor
- Coordinated shooting → Intake commands: runs intake
- Coordinated shooting → Bin commands: agitates bin
- Intake commands → Intake subsystem: controls intake
- Pre-feeder commands → Pre-feeder subsystem: controls feed
- Pre-feeder commands → Swerve drivetrain: reads hub distance
- Floor commands → Floor subsystem: controls floor
- Pivot commands → Shooter pivot: controls pivot
- Bin commands → Bin release: controls bin
- Climber commands → Climber: controls climb