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Overview

Last Updated: 3/9/2026

BREAD5940 2025 Robot Project

Introduction

Welcome to the BREAD5940 2025 robot codebase! This is a competitive FRC (FIRST Robotics Competition) robot project built using WPILib and Java. The robot is designed for the 2025 FRC season game.

Technology Stack

  • Language: Java 17
  • Framework: WPILib 2025.3.2
  • Build System: Gradle
  • Path Planning: PathPlanner
  • Telemetry: AdvantageKit (LoggedRobot)
  • Vision: PhotonVision for AprilTag detection and object recognition
  • Hardware: CTRE Phoenix 6 motor controllers, REV Power Distribution Hub

Project Structure

src/main/java/frc/robot/
├── Robot.java              # Main robot class
├── RobotContainer.java     # Subsystem and command initialization
├── Constants.java          # Robot-wide constants
├── FieldConstants.java     # Field geometry constants
├── Main.java              # Entry point
├── autonomous/            # Autonomous routines
├── commands/              # Robot commands
├── commons/               # Utility classes
├── config/                # Robot configuration
├── constants/             # Subsystem-specific constants
├── keyboard/              # Custom controller inputs
└── subsystems/            # Robot subsystems
    ├── climber/
    ├── elevatorpivot/
    ├── endeffector/
    ├── indexer/
    ├── intake/
    ├── swerve/
    └── vision/

Key Features

Advanced Control Systems

  • Swerve Drive: High-precision holonomic drive system
  • Superstructure: Coordinated multi-subsystem state machine
  • Vision-Assisted Scoring: AprilTag-based autonomous alignment

Game-Specific Mechanisms

  • Coral Manipulation: Intake, transport, and scoring of coral game pieces
  • Algae Handling: Specialized mechanisms for algae game pieces
  • Multi-Level Scoring: Automated scoring at L1, L2, L3, and L4 reef levels
  • Climber System: End-game climbing mechanism

Autonomous Capabilities

  • PathPlanner integration for smooth trajectory following
  • Vision-based object detection and tracking
  • Multi-piece autonomous routines (3, 4, and 5-piece autos)
  • On-the-fly path generation

Getting Started

For detailed setup instructions, see Setup and Deployment.

For subsystem documentation, explore the subsystems section.

Team Information

Team: BREAD5940 Season: 2025 FRC Season Repository: BREAD5940/2025-Public 

License

This project uses WPILib, which is licensed under the BSD 3-Clause License. See WPILib-License.md for details.

setup-guide