ProspX FTC — DECODE

Modular FTC robot code for team ProspX (DECODE season), built on Pedro Pathing and FTCLib.

This is a clean rewrite of the team's competition code into small, testable modules. All hardware logic lives in one-class-per-component subsystems; op-modes are thin and only wire buttons/positions to those subsystems.

Modules

#	Module	Op-mode name	Input
1	Teleop	Teleop (Main)	gamepad buttons & sticks
2	Autonomous	Auto - Blue Left, Auto - Blue Right, Auto - Red Left, Auto - Red Right	starting position on the field
3	Intake control (standalone)	Intake Control	buttons
4	Outtake / flywheel control (standalone)	Outtake / Flywheel Control	buttons; closed-loop velocity

Hardware components

Each major hardware component is its own class under TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/:

• Drivetrain — mecanum drive
• Intake — intake motor + gate servo
• Shooter — dual flywheel (velocity control) + hood
• Turret — turret motor with Limelight PD auto-aim
• Vision — Limelight 3A wrapper
• Feeder — 3-slot non-blocking fire sequence
• Robot — composition root that builds them all

All device names and tuning constants live in config/RobotConfig.java.

Getting started

1. Open in Android Studio.
2. Connect the Robot Controller (or use ./gradlew :TeamCode:assembleDebug).
3. Make sure the Driver Station configuration matches the hardware map in AGENTS.md.

For contributors (and Claude Code)

Read AGENTS.md — it documents the architecture rules, the full hardware map, and how to add a new subsystem, tuned constant, or autonomous start position.