Robot-Code-2026

This is Team 6560's 2026 season code.

Features:

• Localization with 4 limelights, AprilTag PnP, and a Kalman filter with dynamic covariances
• AdvantageKit framework and I/O for each subsystem
• Shoot-on-the-move (SoTM) support with a lookup table and iterative virtual target calculation.
• Autonomous routines with ChoreoLib

Authors:

• Michael Wen
• Kevin Chou
• Anish Kumar
• Ishaan Soni
• Ashray Mahadeva

To Use:

• git clone https://github.com/frc6560/Robot-Code-2026.git
• Ensure WPILib is downloaded
• Connect to robot WiFi
• ./gradlew build
• ./gradlew deploy