LSSU Ri3D swerve template

Our robot code base for BIOCORE: swerve on 4 SDS MK5n (R1), NEO v1.1 drive on SPARK MAX, Kraken X44 steer, CANcoders, NavX MXP (or a Pigeon 1.0), 30x30 frame. Everything is ready before kickoff, so build day is just adding mechanisms.

Read STANDARDS.md before you write anything, it's short.

Setup

1. Install WPILib 2026 (comes with VS Code).

2. Clone this repo and open the folder in WPILib VS Code:

   git clone https://github.com/LSSU-Ri3D/swerve-template.git

3. ./gradlew build. The first one downloads everything and takes a few minutes.

4. Set your team number in .wpilib/wpilib_preferences.json to whatever the roboRIO was imaged with (it's 0 right now). Deploying over USB works whatever the number is.

Simulate: WPILib: Simulate Robot Code in VS Code. Field-relative drive, autos and odometry all work in sim.

Driver controls (Xbox, port 0)

Input	Does
Left stick	drive, field relative
Right stick X	turn
LB (hold)	slow mode
RB (hold)	robot relative
X (hold)	X-lock
Start	zero heading, point the robot away from you first

Swapping the gyro

DriveConstants.GYRO. NAVX_MXP for the NavX in the MXP port, PIGEON_1 for a Pigeon 1.0 on CAN ID 2 (change it in Ports.PIGEON_1). That's the only line.

Hardware notes

• MK5n R1: 7.03:1 drive (12:54, 32:25, 15:30), 287:11 steer, 4" wheel, ~14.1 ft/s free with a NEO. For R2/R3 change the pinion in DRIVE_GEAR_RATIO and COUPLE_RATIO.
• Geometry: wheel centers are 24.757" apart both ways, measured off the Robot 27 chassis in Onshape.
• Steering closes the loop on the Talon with the CANcoder as a remote sensor (no Phoenix Pro needed).