Daniel's Experimental GRT 2026 Robot Code!

Cool Things added:

Cool files to checkout:

• src/main/java/frc/robot/util/LoggedCanivore.java — CANBus wrapper that polls bus status on a background thread and auto-logs utilization / bus-off / TEC / REC through AdvantageKit.
• src/main/java/frc/robot/util/PhoenixUtil.java — tryUntilOk config-retry helper plus a per-bus status-signal registry so every CAN bus refreshes its signals together.
• src/main/java/frc/robot/subsystems/hopper/HopperIO.java — AdvantageKit @AutoLog IO interface for the hopper (position, velocity, currents, temp, faults) with setDutyCycle / setVelocity / stop.
• src/main/java/frc/robot/subsystems/hopper/HopperIOTalonFX.java — TalonFX implementation of HopperIO: stator current limits, Slot 0 velocity PID, and signal registration into PhoenixUtil.

TODO:

• Fix code style inconsistencies/overall weirdness
  • Add checkstyle code style checking
    • Create checkstyle docs
  • Fix things caught by checkstyle
  • Consistent command usage (inline commands in robot container and triggers and stuff)
• Full advantage kit port
• Figure out sim stuff

Change Log:

1. Generated checkstyle config found in ./config/checkstyle/google_checks.xml by running the google checkstyle config on current code and making changes based on preferred outcome
2. Added LoggedCanivore (src/main/java/frc/robot/util/LoggedCanivore.java) — wraps CANBus with a background thread that polls bus status every 400ms and auto-logs utilization, bus-off/TEC/REC counters through AdvantageKit. Idea borrowed from FRC 6328.
3. Added PhoenixUtil (src/main/java/frc/robot/util/PhoenixUtil.java, from FRC 6328) — provides tryUntilOk for retrying Phoenix config calls and a per-bus registerSignals / refreshAllStatusSignals registry so every CAN bus refreshes its signals together.
4. Replaced the SWERVE_CAN_BUS / MECH_CAN_BUS string constants with a Constants.CANType enum (RIO, MECH, SWERVE) so bus identity is type-safe and usable as a map key in PhoenixUtil.

Robot Control and Motor Assignments

Drive Controller (Pilot)

PS5 Button	Assigned Function	Motor ID
X (Cross)	Reset Heading
O (Circle)
△ (Triangle)	Auto Climb (TODO)
□ (Square) (hold)	Emergency Force Intake In (pivot up + stop rollers)
L1 (hold)	Robot-Relative Mode (release returns to field-relative)
L2 (analog)	Speed Limit (harder press = slower)
R1 (toggle)	Shooter Sequence
R2 (>= 90% pressed)	Boost Mode
L3 (Left Stick Click)
R3 (Right Stick Click)
D-Pad Up
D-Pad Down
D-Pad Left
D-Pad Right
Options Button	Reset Pose to Starting Position
Create Button
PS Button
Touchpad
Left Joystick	Swerve Translation (forward/strafe)	0-11
Right Joystick	Swerve Rotation	0-11

Mech Controller (Operator)

PS5 Button	Assigned Function	Motor ID
X (Cross)	Forced Pivot In (HOLD)
O (Circle)	Pivot In / Out (Click for IN/OUT)
△ (Triangle)	Shooter Hood Positions (Multiple Clicks)
□ (Square)	Shooter Wheel (Click for ON/OFF)
L1	Hopper Shoot All Balls (HOLD)
L2	Intake Rollers In Manual
R1	Hopper Reverse (Agitator) (HOLD)
R2	Intake Rollers Out Manual
L3 (Left Stick Click)
R3 (Right Stick Click)
D-Pad Up	Winch up Manual
D-Pad Down	Winch down Manual
D-Pad Left	Doornob down Manual
D-Pad Right	Doornob up Manual
Options Button
Create Button
PS Button
Touchpad
Left Joystick	Hood Up / Down Manual
Right Joystick	Intake Pivot Up / Down Manual

CAN Assignments

Subsystem	Component	Type	Position	CAN ID
Swerve	Drive	Kraken x60	FL	1
	Drive	Kraken x60	FR	3
	Drive	Kraken x60	BR	5
	Drive	Kraken x60	BL	7
	Steer	Kraken x44	FL	0
	Steer	Kraken x44	FR	2
	Steer	Kraken x44	BL	4
	Steer	Kraken x44	BR	6
	CANcoder	CANcoder	FL	11
	CANcoder	CANcoder	FR	10
	CANcoder	CANcoder	BL	8
	CANcoder	CANcoder	BR	9
Intake	Pivot	Kraken x60	-	12
	Pivot Encoder	Throughbore	-	13
	Roller	Kraken x44	-	14
Hopper	Hopper	Kraken x44	-	15
Shooter	Hood	Kraken x44	-	16
	Flywheel	Kraken x44	-	17
	Hood Encoder	Throughbore	-	18
Climb	Doornob	Kraken x44	-	19
	Doornob Encoder	Throughbore	-	20
	Winch	Kraken x60	-	21
CAN Devices	CANdi	CANdi	-	22
	CANdi	CANdi	-	23
	CANivore	CANivore	-	"swerve-can"
	CANivore	CANivore	-	"mech-can"
	Pigeon	Pigeon 2.0	-	24
Extra	Second Flywheel	X60	-	25
	Tower Roller	X40	-	26
	CANrange climb		-	22

Motor Configuration

Subsystem	Motor Name	ID	Current Limit	Max Velocity	Max Current	Max Acceleration
Swerve	Drive FL	1
	Drive FR	3
	Drive BR	5
	Drive BL	7
	Steer FL	0
	Steer FR	2
	Steer BL	4
	Steer BR	6
Intake	Pivot	12
	Roller	14
Hopper	Hopper	15
Shooter	Hood	16
	Flywheel	17
Climb	Doornob	19
	Winch	21

Mech Controller Keybinds:

Button Action R1 Intake In R2 Intake Out L1 Hopper Forward L2 Hopper Reverse Right Stick Y Pivot Manual Left Stick Y Hood/Arm Manual Square + R2 Flywheel Speed Cross (hold) Climb Down Triangle (hold) Climb Up D-Pad Up/Down Winch Up/Down