CTREAKCombo

WPILib 2025.2.1 code implementing the CTRE Swerve Library with AdvantageKit, alongside partial replay support. Also implementing maple-sim for higher-quality drivetrain simulation, alongside game piece simulation and drivetrain collision simulation. Also includes PhotonVision support for pose estimation, both physically and in simulation.

Setting Up Code Environment

Note

This code repository is meant to be used in IntelliJ, but it can be used in Visual Studio Code. In VS Code, you won't be able to run code replay or run performance profiling without going through the terminal.

IntelliJ Setup

1. Install IntelliJ IDEA Community Edition (free) or IntelliJ IDEA Ultimate (paid, free through GitHub Student Developer Pack). Make sure you have the latest version of WPILib 2025 installed as well.
2. Add the FRC IntelliJ plugin. This can be installed in the IDE directly by going through File -> Settings -> Plugins.
3. Clone this repository using your favorite Git client, and open it in IntelliJ.
4. Go to File -> Project Structure, and hit the "Edit" button next to SDK. Press the "plus" icon, press "Add JDK from disk...", and go to the directory "C:\Users\Public\wpilib\2025\jdk" and add it. This ensures that we are using the officially supported JDK version from WPILib, to hopefully minimize issues.
5. Run the "Build Robot" run configuration once, just to make sure that you've downloaded all dependencies.
6. (Optional) Add the google-java-format plugin for proper code formatting, or, just let spotless handle it when building.
7. (Optional) You should see a prompt in the bottom right corner of IntelliJ asking you to enable google-java-format, if so, click "Enable for this project". If not, go to "File -> Settings -> google-java-format settings", and enable it.

VS Code Setup

1. Install the latest version of WPILib and it's built-in version of VS Code.
2. Clone this repository using your favorite Git client, and open it in VS Code.
3. Build the project once to make sure that all dependencies have been downloaded.
4. (Optional) Add the google-java-format extension through VS Code's built-in extension manager.
5. (Optional) When/if you format code for the first time, make sure you select "Google Java Format for VS Code". Or, don't format, and just let spotless handle it when building.

Run Configurations

Build Robot

IntelliJ

Just run the "Build Robot" run configuration by selecting it and hitting the play button.

VS Code

Open the Command Palette (Ctrl+Shift+P) and type WPILib: Build Robot Code.

Terminal/PowerShell

Open the project folder in a Unix terminal or PowerShell, and run gradlew build.

Build & Deploy

IntelliJ

Just run the "Build & Deploy" run configuration by selecting it and hitting the play button.

VS Code

Open the Command Palette (Ctrl+Shift+P) and type WPILib: Deploy Robot Code. Or, use the keyboard shortcut "Shift+F5".

Terminal/PowerShell

Open the project folder in a Unix terminal or PowerShell, and run gradlew deploy.

Build & Deploy Robot with Debugging and Performance Profiling (with VisualVM or other JMX client)

IntelliJ

Just run the "Build & Deploy Robot with Debugging and Performance Profiling" run configuration by selecting it and hitting the play button. Use IntelliJ's built-in debugger and some JMX client for performance profiling.

VS Code/Terminal/PowerShell

Open the project folder in a Unix terminal or PowerShell, and run gradlew deploy -PprofilingMode -PdebugMode=true. Use any Java debugger and some JMX client for performance profiling.

Build & Simulate

IntelliJ

Just run the "Build & Simulate" run configuration by selecting it and hitting the play button. The Glass "simgui" will open by default, but you can also use Driver Station.

VS Code

Open the Command Palette (Ctrl+Shift+P) and type WPILib: Simulate Robot Code. Or, use the keyboard shortcut "Shift+F5". You can select between "simgui", Driver Station, or both.

Terminal/PowerShell

Open the project folder in a Unix terminal or PowerShell, and run gradlew simulateJava.

Build & Replay

IntelliJ

Just run the "Build & Replay" run configuration by selecting it and hitting the play button. Use AdvantageScope to load and replay any log files.

VS Code/Terminal/PowerShell

Open the project folder in a Unix terminal or PowerShell, and run gradlew simulateJava -PreplayMode. Use AdvantageScope to load and replay any log files.