A repository containing robot code for 5690's 2026 season.
This is a guide to using and updating 5690's season code for our 2026 Command Robot.
All devices connected to the CAN bus along with their corresponding CAN IDs
| Device | CAN ID |
|---|---|
| Front Right Drive Motor | 1 |
| Front Left Drive Motor | 2 |
| Rear Left Drive Motor | 3 |
| Rear Right Drive Motor | 4 |
| Front Right Turn Motor | 5 |
| Front Left Turn Motor | 6 |
| Rear Left Turn Motor | 7 |
| Rear Right Turn Motor | 8 |
| Pigeon Gyro | 13 |
All devices connected to the robot's local network along with each device's assigned IP address
| Device | IP |
|---|---|
| Gateway | 10.56.90.1 |
| RoboRio | 10.56.90.2 |
Button bindings for the devices used to control the robot
| Button/Axis | Action |
|---|---|
| Left Stick X | Robot translation along the field's X axis |
| Left Stick Y | Robot translation along the field's Y axis |
| Right Stick X | Robot rotation |
Auto names along with their actions will be listed here.
This is a guide to the development cycle of this repository. This should apply to anyone interested in making changes to this season's robot code.
Issues describe either bugs or errors within code/documentation or features which should be implemented. There is no specific format for creating issues, but please keep your issues succinct and specific to either a problem or feature. You can create an issue by clicking on the Issues tab at the top of the repository and selecting New issue. Tags should be added to the issue in order to indicate what the issue pertains to, i.e. drive train, autonomous routines, vision, etc.
Branches should be created only off of the main branch to address issues. These branches are not required to pass CI or work during development, but they should by the time a PR is made. Branch names should be prefixed with feature/ or bug/ depending on the nature of the issue the branch is addressing. Ensure your branch has been published to remote, called origin by default, in order to create PRs and ensure everyone can see your progress on an issue.
Like issues, there is no specific format to creating commits. However, commits should only be made to development branches outside of main and commit messages should briefly but accurately describe the changes made in that commit. Commits should be made frequently in case a problem is encountered and you want to find where exactly the problem originated.
Pull requests should be made in GitHub once a branch has adequately solved an issue. To create a PR, simply go to the Pull requests tab on the repository in GitHub and select New pull request. The pull request should include how it solved an issue along with Closes <issue-number> or Fixes <issue-number> so GitHub knows to automatically close an issue once a PR has been accepted and pulled into the main branch. These PRs should contain code that has been tested on the robot and pass CI in order to keep main free of significant problems. Your PRs should be thoroughly reviewed by at least one other person on the programming department.
Releases should only be made prior to competitions and based off of the main branch. Releases should be competition-ready and thoroughly tested in order to prevent code changes at competition. These will be used at competition hopefully without alteration.