Class Robot

java.lang.Object

org.wpilib.framework.RobotBase

org.wpilib.framework.IterativeRobotBase

org.littletonrobotics.junction.LoggedRobot

frc.spectrumLib.framework.SpectrumRobot

frc.robot.Robot

All Implemented Interfaces:

AutoCloseable

public class Robot
extends SpectrumRobot

FM (2026 "Final Machine") on SystemCore, competing as 8515.

The robot code is FM's from 2026-Spectrum main; the loop structure, telemetry, CAN health logging and pre-match checks are from the 2026-offseason-bot branch; logging and replay are AdvantageKit. See README.md.

Loop order

1. Swerve.updateInputs(): drivetrain inputs recorded, odometry integrated.
2. Vision.periodic(): every pose source read, gated, logged and fused.
3. The command scheduler: subsystems (SuperStructure, mechanisms, Swerve's drive request), then commands.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Robot.Config

Field Summary

Fields

Modifier and Type	Field	Description
static boolean	autonWarmedUp

Fields inherited from class SpectrumRobot

LOOP_OVERRUN_WARNING_SECONDS

Fields inherited from class LoggedRobot

defaultPeriodSecs

Constructor Summary

Constructors

Constructor	Description
Robot()

Method Summary

Modifier and Type	Method	Description
void	autonomousExit()
void	autonomousInit()
void	autonomousPeriodic()
void	configureBindings()
void	configureSimBindings()
void	disabledExit()
void	disabledInit()
void	disabledPeriodic()
static Auton	getAuton()
static BatteryLogger	getBatteryLogger()
static Robot.Config	getConfig()
static Field2d	getField2d()
static FuelIntake	getFuelIntake()
static Hood	getHood()
static IndexerBed	getIndexerBed()
static IndexerTower	getIndexerTower()
static IntakeExtension	getIntakeExtension()
static Launcher	getLauncher()
static Leds	getLeds()
static MatchSummary	getMatchSummary()	The match summary: Summary/... in every log, a file after each FMS match.
static Operator	getOperator()
static Pilot	getPilot()
static RobotSim	getRobotSim()
static SuperStructure	getSuperStructure()
static Swerve	getSwerve()
static Vision	getVision()
void	robotPeriodic()
void	simulationInit()
void	simulationPeriodic()
void	teleopExit()
void	teleopInit()
void	teleopPeriodic()
void	utilityExit()
void	utilityInit()
void	utilityPeriodic()

Methods inherited from class LoggedRobot

close, endCompetition, setUseTiming, startCompetition

Methods inherited from class IterativeRobotBase

driverStationConnected, getPeriod, loopFunc, printWatchdogEpochs

Methods inherited from class RobotBase

getMainThreadId, getOpMode, getOpModeId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isUtility, isUtilityEnabled, startRobot, suppressExitWarning

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

autonWarmedUp

public static boolean autonWarmedUp

Constructor Details

Robot

public Robot()

Method Details

configureBindings

public void configureBindings()

configureSimBindings

public void configureSimBindings()

robotPeriodic

public void robotPeriodic()

Overrides:

robotPeriodic in class IterativeRobotBase

disabledInit

public void disabledInit()

Overrides:

disabledInit in class IterativeRobotBase

disabledPeriodic

public void disabledPeriodic()

Overrides:

disabledPeriodic in class IterativeRobotBase

disabledExit

public void disabledExit()

Overrides:

disabledExit in class IterativeRobotBase

autonomousInit

public void autonomousInit()

Overrides:

autonomousInit in class IterativeRobotBase

autonomousPeriodic

public void autonomousPeriodic()

Overrides:

autonomousPeriodic in class IterativeRobotBase

autonomousExit

public void autonomousExit()

Overrides:

autonomousExit in class IterativeRobotBase

teleopInit

public void teleopInit()

Overrides:

teleopInit in class IterativeRobotBase

teleopPeriodic

public void teleopPeriodic()

Overrides:

teleopPeriodic in class IterativeRobotBase

teleopExit

public void teleopExit()

Overrides:

teleopExit in class IterativeRobotBase

utilityInit

public void utilityInit()

Overrides:

utilityInit in class IterativeRobotBase

utilityPeriodic

public void utilityPeriodic()

Overrides:

utilityPeriodic in class IterativeRobotBase

utilityExit

public void utilityExit()

Overrides:

utilityExit in class IterativeRobotBase

simulationInit

public void simulationInit()

Overrides:

simulationInit in class IterativeRobotBase

simulationPeriodic

public void simulationPeriodic()

Overrides:

simulationPeriodic in class IterativeRobotBase

getRobotSim

public static RobotSim getRobotSim()

getConfig

public static Robot.Config getConfig()

getField2d

public static Field2d getField2d()

getMatchSummary

public static MatchSummary getMatchSummary()

The match summary: Summary/... in every log, a file after each FMS match.

getSwerve

public static Swerve getSwerve()

getFuelIntake

public static FuelIntake getFuelIntake()

getIntakeExtension

public static IntakeExtension getIntakeExtension()

getIndexerTower

public static IndexerTower getIndexerTower()

getIndexerBed

public static IndexerBed getIndexerBed()

getOperator

public static Operator getOperator()

getPilot

public static Pilot getPilot()

getLauncher

public static Launcher getLauncher()

getHood

public static Hood getHood()

getVision

public static Vision getVision()

getLeds

public static Leds getLeds()

getAuton

public static Auton getAuton()

getSuperStructure

public static SuperStructure getSuperStructure()

getBatteryLogger

public static BatteryLogger getBatteryLogger()