Rebuilt-2026

A repository for the Rebuilt 2026 FRC game season.

FRC Team 4141 — Artiller-E 2026

Autonomous-capable double shooter bot for the 2026 REBUILT game.

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Table of Contents

• Overview
• Hardware
• Software Architecture
• Subsystems
• Commands
• Autonomous Modes
• Controls
• Getting Started
• Building & Deploying
• Contributing
• License

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Overview

Field	Details
Team Number	4141
Robot Name	Artiller-E
Season / Game	2026 — REBUILT
Language	Java
Framework	WPILib Command-Based
Build System	Gradle

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Hardware

Drive Train

• Type: Swerve
• Motors: 8x Falcon 500
• Motor Controllers: TalonFx
• Gyro: Pigeon 2

Other Mechanisms

Mechanism	Motors	Controller	Sensors
Shooter	NEO Vortex x 2	SPARK Flex	None
Kicker	NEO Vortex x 1	SPARK Flex	None
Hopper	NEO Vortex x 1	SPARK Flex	None
Intake	NEO Vortex x 3	SPARK Flex	Through-bore encoder x 2

CAN IDs

Device	CAN ID
Gyro (Pigeon 2)	0
Front Left Drive	8
Front Left Turn	9
Front Right Drive	10
Front Right Turn	11
Rear Left Drive	12
Rear Left Turn	13
Rear Right Drive	14
Rear Right Turn	15
Intake Right	16
Intake Left	17
Intake Spinner	18
Shooter Right	19
Shooter Left	20
Kicker	21
Hopper	22

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Software Architecture

This robot uses the WPILib Command-Based framework.

src/main/java/frc/robot/
├── Main.java
├── Robot.java                  # Entry point, lifecycle hooks
├── RobotContainer.java         # Subsystem & command wiring, button bindings
├── Constants.java              # All hardware constants and tuning values
├── commands/
│   ├── [ExampleCommand].java
│   └── autos/
│       └── [ExampleAuto].java
└── subsystems/
    ├── CommandSwerveDrivetrain.java
    ├── Shooter.java
    ├── Hopper.java
    └── Intake.java
    

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Subsystems

DriveSubsystem

• Description: Controls robot movement using swerve.
• Default Command: DefaultDriveCommand — joystick field-relative drive.
• Key Methods:
  • drive(double xSpeed, double ySpeed, double rot) — drives the robot.
  • resetOdometry(Pose2d pose) — resets pose estimate.
  • getPose() — returns current Pose2d.

ShooterSubystem

• Description: Controls the arm for [game piece] manipulation.
• Default Command: Stops all motors.
• Key Methods:
  • setAngle(double degrees) — moves arm to target angle.
  • getAngle() — returns current arm angle.

HopperSubystem

• Description: Controls the rollers on the hopper to feed the shooter.
• Default Command: Stops all motors.
• Key Methods:
  • setAngle(double degrees) — moves arm to target angle.
  • getAngle() — returns current arm angle.

IntakeSubsystem

• Description: Intakes game pieces.
• Default Command: Stops spinner and returns to stowed position.
• Key Methods:
  • intake() — runs intake inward.
  • outtake() — runs intake outward.
  • stop() — stops intake.

Add additional subsystems as needed.

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Commands

Command	Description	Used By
DefaultDriveCommand	Joystick-driven teleop driving	DriveSubsystem
IntakeCommand	Runs intake while held	Operator controller
ArmToPositionCommand	Moves arm to a preset angle	Operator controller
AutoBalanceCommand	Auto-levels on the charging station	Auto / teleop
DriveToTargetCommand	Vision-assisted alignment to a target	Auto / teleop

Add or remove commands to match your robot.

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Autonomous Modes

Autonomous routines are selected via Shuffleboard / SmartDashboard using a SendableChooser.

Mode Name	Description
DoNothingAuto	Robot does not move (default/fallback).
TaxiAuto	Drives out of the starting zone.
OnePieceAuto	Scores one preloaded game piece and taxis.
TwoPieceAuto	Scores preload, intakes, and scores a second piece.
[CustomAuto]	[Description]

Autos are implemented using WPILib's Command Composition and/or PathPlanner.

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Controls

Driver — Controller Port 0 PS4

Input	Action
Left Stick X/Y	Translate (field-relative)
Right Stick X	Rotate
Left Bumper	Slow mode (50% speed)
Right Bumper	Turbo mode (100% speed)
Back Button	Reset field-relative heading
Start Button	Reset odometry
A Button	Auto-align to target

Operator — Controller Port 1 Xbox

Input	Action
Left Stick Y	Manual arm control
Right Trigger	Intake
Left Trigger	Outtake
A Button	Arm to floor position
B Button	Arm to mid position
Y Button	Arm to high position
X Button	Arm to stow position
Left Bumper	Climber up
Right Bumper	Climber down

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Getting Started

Prerequisites

• WPILib 2026 installed
• FRC Game Tools installed
• Java 17+
• Git

Clone the Repository

git clone https://github.com/[ORG]/[REPO_NAME].git
cd [REPO_NAME]

Open in VS Code

1. Open VS Code.
2. Open the cloned folder: File → Open Folder.
3. VS Code should detect the WPILib project automatically.

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Building & Deploying

Build (Simulation / Check)

./gradlew build

Deploy to Robot

Ensure the computer is connected to the robot's network (radio or tether), then:

./gradlew deploy

Run Simulation

./gradlew simulateJava

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Contributing

1. Fork the repo and create a feature branch: git checkout -b feature/my-feature
2. Commit your changes with clear messages: git commit -m "Add: arm position presets"
3. Push to your branch: git push origin feature/my-feature
4. Open a Pull Request and request review from a lead.

Code Style

• Follow WPILib Java conventions.
• All constants go in Constants.java.
• Every subsystem and command should have a Javadoc summary comment.
• Avoid magic numbers — use named constants.

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License

This project is licensed under the MIT License — see the LICENSE file for details.

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Go Monarch Robotics!