Leviathan 2025

BreakerBots' FRC robot code for the 2025 season. This repository contains the Java code that powers our robot "Leviathan".

Project Structure

The codebase follows WPILib's command-based programming paradigm and is organized as follows:

src/main/java/frc/robot/
├── commands/          # Robot commands/actions
│   ├── Autos.java    # Autonomous routines
│   └── ExampleCommand.java
├── subsystems/       # Hardware control modules
│   └── ExampleSubsystem.java
├── Constants.java    # Robot-wide configuration
├── Main.java        # Program entry point
├── Robot.java       # Core robot functionality
└── RobotContainer.java # Robot composition & control bindings

Key Components

BreakerLib

• A standerdized utility library for BreakerBots WPILib projects
• Includes various device drivers, utils, and more

Core Classes

• Robot.java: Manages robot lifecycle and mode transitions (auto, teleop, etc.)
• RobotContainer.java: Creates/configures subsystems and commands
• Constants.java: Stores robot-wide configuration values

Commands

Commands define actions the robot can perform. Located in commands/:

• Autos.java: Autonomous routine factory
• ExampleCommand.java: Template for new commands

Subsystems

Subsystems represent robot hardware abstractions. Located in subsystems/:

• Drivetrain.java: User Implementation of BreakerLib's "BreakerSwerveDrive" class, which uses the Phoenix Swerve API

Getting Started

Prerequisites

• WPILib 2025 VS Code
• Java 11 or newer
• Git
• ChoreoLib
• PhotonLib
• PathPlannerLib
• Phoenix 6
• DogLog
• GVersion

Setup

1. Clone the repository:

   git clone git@github.com:BreakerBots/Leviathan_2025.git

   or:

   1. Open Github Desktop
   2. Navigate to: Current Repository -> Add -> Clone New Repository
   3. Select "BreakerBots/Leviathan_2025"

2. Open the project in WPILib VS Code

3. Build the project:

   ./gradlew build

   or:

   1. Press Ctrl+Shift+P in VS Code
   2. Select "Build Robot Code"

Deployment

To deploy to the robot:

1. Connect to the robot's network or VH-109 Access Point
2. Pres Shift+F5 in VS Code

Project Status

This is a template project that needs to be developed for the 2025 season. Key tasks:

• Define robot subsystems
• Create game-specific commands
• Configure autonomous routines
• Set up driver controls
• Add constants for hardware IDs

Additional Resources

• WPILib Documentation
• FRC Control System Documentation
• Command-Based Programming

License

This project is licensed under the WPILib BSD License - see WPILib-License.md for details.