FRC 2053 Southern Tier Robotics 2025 Code

This repo holds our code for the 2025 Robot. Our test drivebase is a swerve drivetrain using Krakens for Drive and V3 Falcon 500's for steer with the MK4i modules geared at the "L2" option. We have a pigeon v2 as our IMU as well all running through the CANivore. Our library uses Phoenix V6 Pro.

How to setup

Prerequisites (Install this stuff first)

• Python 3 (not installed from Windows store. Please install from Python website)
• Visual Studio 2022 with C++ workload
• Latest Stable 2025 WPILib Version

Install steps:

• Create your virtual environment Inside the root of the project run: python -m venv ./venv
• Activate your virtual environment ./venv/Scripts/Activate.ps1
• Install the code formatter pip install -r requirements.txt

Build steps:

• To build the code, press Ctrl+Shift+P and search for "Build Robot Code". This will build the robot code for the robot, as well as simulation (desktop).

To run:

• To run in simulation, press Ctrl+Shift+P and search for "Simulate Robot Code". This will launch the simulation.
• To run the code on the robot, press Ctrl+Shift+P and search for "Deploy Robot Code". This will search for a RoboRio over USB or the network and upload the code to the robot.

Running formatting:

• Run wpiformat with your venv activated

To make a PR:

• Create a branch from main
• Push to your branch
• Make sure your commits follow the formatting rules or else you can't merge
• Make a PR on github