6925 robot code

Overview

The repository is titled "6925 W.A.Robotics — 2026 REBUILT". Its opening line places the team at Woodward Academy, College Park, GA, and describes a robot that shoots Fuel with three independent Kraken flywheels. The same paragraph says it is not a dump-bin, does not climb, and is too tall for the trench.

GitHub reports the default branch as n4. The language breakdown is Java, with a smaller amount of Python.

Problem

This is competition robot code, not a library. The README is written as the working description of that robot: how it scores, which devices sit on which CAN and PWM ids, what the driver and operator controllers do, and which limits are not to be changed from the dashboard.

What he built

The published behavior, in the README's words, is that the Xbox right bumper aims at hub tags and winds the live shot table, operator button 1 feeds, and the flywheels idle at 3000 RPM between volleys while holding the last shot RPM during the feed. Vision is a Limelight named limelight, pipeline 0 only, described as 2026 AprilTags / MegaTag2. The README says there is no Fuel neural pipeline in the code.

The CAN map, PWM hood servos, Pigeon, driver controls, and voltage rules (including the instruction not to raise the 35 A drive supply) are in the README. This page does not restate that table. The docs next to the code are the knowledge file, the formula sheet, and the named-command list.

Process

Build, sim, and deploy are the Gradle tasks documented in the README:

./gradlew test
./gradlew build
./gradlew simulateJava
./gradlew deploy

Sim is Glass or AdvantageScope plus the PathPlanner GUI. The field JSON named in the README is edu/wpi/first/fields/2026-rebuilt.json. The README says a shot "success" in sim means the table commanded the right RPM and hood, and that the project is not SimScale.

The README splits the upgrade into what it fixed (idle RPM overwriting a shot, vision in auto, hub-tag aim, and other items) and what it left alone (the live RPM and hood table, the fiducial offset, the 35 A drive limit, and other tuned numbers).