PreCAD

This is the period immediately after kickoff, Time to prepare for the new season! Week 0-3ish

Set Up the Codebase

  • Create a new GitHub repository

  • Copy over code from the most recent stable version (acts as base)

Remove Season-Specific Code

Delete:

  • Subsystems

  • Superstructure states

  • Most of the superstructure class

  • Useless Planners

  • Ports

  • Field Constants

Rebuild Core Structure

  • Add your subsystems to the subsystem folder

  • Register them in the SubsystemManager

  • Add ports to Ports.java

  • Create all subsystem states

Update Constants

  • Update RobotConstants.java and FieldConstants.java

6328 makes high quality FieldConstants, check theirs out!

  • Ask design when gear ratios are finalized and update subsystem constants accordingly

You should ask cad for specific ratios on each motor/mech

Gear ratios should match, mismatches will break the robot - double check especially for subsystems

At this point it is important to read the changes to any librarys you use, in 2025 ctre switchted their units from miliseconds to seconds which resulted in our code waiting 500 seconds to configure the motors. This SUCKED, code deployed without error -> driverstation returns no errors -> Robot code doesnt turn green

Superstructure & Controls

  • Add superstructure sequences

    • If the robot has unsafe states, use graph theory for transitions (see 6328’s 2025 code)

  • Add control mappings discussed with strategy/drivers

    • Will likely require automation

    • Use previous years’ code as a reference

Autonomous Planning

  • Talk with strategy about auto paths

  • Make the initial auto paths

Pre-CAD Review

  • Double-check that everything is in place

  • Ensure that the subsystems have sufficient torque and acceptable backlash

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