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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

License

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