Building season codebase — FRC Team 7563 Megazord — 2026/2027 Biocore season
Overview · Features · Subsystems · Getting Started · Repository Structure · Contributing
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Biocore2026‑SimV2 is Team 7563's simulation‑first sandbox for the 2026/2027 Biocore season robot code. It carries the swerve drivetrain, logging pipeline and vendor stack that the season's control system is built on, wired up for desktop simulation ( The rest of the season's mechanisms (intake, shooter/turret, feeder, indexer) already have their constants and gains staged in |
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Swerve Drive (Sim)
4‑module holonomic drivetrain with field‑oriented control, running on SwerveModuleIOSim for desktop simulation
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AdvantageKit Logging
Full IO‑layer logging with WPILOG output, NT4 live streaming, and replay support via Robot.java
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URCL + REV/CTRE Stack
Unofficial REV Logging Compatibility Layer plus native Phoenix 6 (Kraken) and REVLib (Spark) integration |
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PathPlannerLib
Holonomic auto config pre‑wired from drivetrain mass, MOI and module characterization in Constants
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Current Limiting
Supply/stator current limits configured per motor group, following CTRE's performance guidance |
Drive Modes
SLOW / FAST / MAX speed profiles bound to bumpers on the driver CommandXboxController
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| Subsystem | Package | Status |
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| Swerve Drive | subsystems/swerve |
✅ Implemented — SwerveSubsystem, SwerveModule, Gyro, sim IO layers |
| Intake / Articulator | Constants.SubsystemsConstants.IntakeConstants |
🟡 Gains staged, subsystem pending |
| Shooter (Turret, Flywheel, Capo) | Constants.SubsystemsConstants.shooterConstants |
🟢 Gains + interpolation maps staged, subsystem pending |
| Feeder | Constants.SubsystemsConstants.FeederConstants |
🟡 Gains staged, subsystem pending |
| Indexer | Constants.SubsystemsConstants.IndexerConstants |
🟡 Gains staged, subsystem pending |
| 1 |
git clone https://github.com/MegaZord7563/Biocore2026-SimV2.git
cd Biocore2026-SimV2 |
| 2 |
Install WPILib 2026 (VS Code, Java extensions, Shuffleboard, roboRIO/Game Tools) from the official WPILib installer. |
| 3 |
./gradlew build |
| 4 |
Run the desktop simulator (opens Sim GUI + Driver Station): ./gradlew simulateJava |
| 5 |
Deploy to the roboRIO (team 7563) over USB or the field network: ./gradlew deploy |
Biocore2026-SimV2/
├── src/main/java/br/megazord/frc7563/
│ ├── Main.java # Entry point — do not modify
│ ├── Robot.java # Lifecycle + AdvantageKit/URCL logging setup
│ ├── RobotContainer.java # Subsystems, OI bindings, autonomous
│ ├── Constants.java # All robot-wide constants and gains
│ └── subsystems/swerve/ # Drivetrain: modules, gyro, IO + sim layers
├── src/main/deploy/ # Files deployed to the roboRIO
├── vendordeps/ # AdvantageKit, PathPlanner, Phoenix6, REVLib, URCL
├── .github/workflows/ # CI — Gradle build on every push/PR
└── build.gradle # GradleRIO build configuration
Built by Team 7563 — Megazord · Jundiaí, SP, Brazil
See CONTRIBUTING.md for branching strategy, PR workflow and code review standards.