Robosub Software 2026

This is the codebase for the SDSU Mechatronics Club competing in Robosub 2026, which manages sensor data, motor control, computer vision, and mission control, among other things.

Outline

• Date Created: 01/01/2026
• Contributors:
  • Ryan Sundermeyer (GitHub: @rsunderr, Discord: @.kech)
  • Kai Chan (GitHub: @kchan5071, Discord: @kialli)
  • Andy Chen (GitHub: @AndyC534, Discord: @creatine4053)
  • Sam Georges (GitHub: @thesamgeorges, Discord: @smoonth.)
  • Joe Lofrese (GitHub: @Joelofrese, Discord: @croppie_luvr)
  • Juan Cota (GitHub: @Juanlo01, Discord: @chewchew0366)
  • Malaika Joiner (GitHub: @malaikajoiner, Discord: @314piekitty)
• Dependencies:
  • Python 3.11+
  • Yolov5 7.0.13
  • Argparse 1.4.0
  • Inputs 0.5
  • Python-can 3.3.3
  • cffi 1.16.0
  • onnx 1.16.1
  • PyYAML 6.0
  • Pyserial 3.5
  • Matplotlib 3.7.2
  • Zed SDK
  • NVIDIA Orin SDK

Key Directories

• modules
  • Where the key features of the code are kept, primarily sensor handling, PIDs, and motor control
• utils
  • Miscellanious helper or setup scripts not used in real-time
• fsm
  • Where the various mode state machines are kept, which handle decision making
• docs
  • Documentation and templates stored here
• display_manager
  • Display code kept here

Key Files

• launch.py
  • The primary file of the code base, manages mission control by switching between modes and handling subprocesses
• shared_memory.py
  • How all of the different files communicate, through a list of shared variables passed through an object
• objects.yaml
  • The config file for the whole code base, lets you choose the pool at the top and customize coordinates
• btn_press.py
  • This script will read input from the button on caracara and run launch.py when green is pressed, running the sub
• pyproject.toml
  • Auto generated file tracking python dependencies

Usage

• Edit the objects.yaml config file to choose what course to follow and target locations, read comments (IMPORTANT)
• Run "python3 btn_press.py" to run the sub after the green button is pressed
• Run "python3 launch.py" to run the sub immediately
• Run "stop" or "kill" to instantly kill the motors using an alias from the bashrc

Notes

• Modes: The process of completing a single objective in the pool
• States: A specific step within a mode
• If you are a contributor, please write your code in a branch, create a pull request, and a software lead will merge after a code review

Status

• Current status: In Progress