Robo-2-2026 — Swerve Practice Robot

A minimal FRC robot project (Java, WPILib 2026) used purely to practice and tune a swerve drive for the drive team. No other mechanisms — just chassis code.

Hardware

• Swerve drive & steering motors: REV NEO (brushless), controlled by REV SPARK MAX (all 8 corner motors)
• Bench-test motor: CTRE Talon FX (standalone test rig, not part of the swerve modules)
• IMU: CTRE Pigeon 2

Controls

One PS5 (DualSense) controller on port 0 (CommandPS5Controller).

Getting Started

1. Open the project in VS Code with the WPILib extension.
2. Build: ./gradlew build
3. Simulate: ./gradlew simulateJava
4. Deploy to the RoboRIO: ./gradlew deploy

Driving the Swerve

Set the 8 motor CAN IDs and the gyro CAN ID in SwerveConstants (Constants.java), deploy, enable in Teleop:

• Left stick — translation (forward/back, strafe)
• Right stick X — rotation
• Options — zeroes the gyro heading (point the robot downfield and press this first — driving is field-relative)

There is no absolute encoder on the modules yet, so each steering SPARK MAX's relative position is zeroed on boot — manually point every wheel straight forward before enabling the robot, or the modules will drive at the wrong angle. Module angles/speeds and heading are published to SmartDashboard under Swerve/. Tune kSteerP/I/D, the gear ratios, and the track width/wheelbase in SwerveConstants to match your actual module hardware.

Bench-Testing the Talon FX

This is a standalone test rig for a single Talon FX — not one of the swerve module motors (those are all SPARK MAX, see above).

Set the CAN ID in TalonTestConstants.kTalonId (Constants.java), deploy, then put the Driver Station into Test mode:

• Hold Cross — spins the Talon FX forward
• Hold Circle — spins the Talon FX in reverse

These bindings only trigger in Test mode (RobotModeTriggers.test()), so the motor cannot be driven accidentally during teleop/autonomous. Live velocity, position, temperature, and stator current are published to SmartDashboard under TalonTest/.

Bench-Testing the Pigeon 2

Set the CAN ID in PigeonTestConstants.kPigeonId (Constants.java), deploy, then put the Driver Station into Test mode:

• Yaw, pitch, roll, and yaw angular velocity are always published to SmartDashboard under PigeonTest/ — no button needed, just watch the values while you rotate/tilt the sensor by hand.
• Press Square — zeroes the yaw (only works in Test mode), so you can re-center it before checking that rotation reads correctly.

Status

Swerve drivetrain (4 modules, field-relative teleop drive) plus individual Talon FX / Pigeon 2 bench tests are wired up. No absolute encoders yet — steering zeroes to whatever position the wheel is in at boot.