Accolades

Team Resistance’s programming history, technical evolution, and award-winning software.

🏆Autonomous Award ×22025
🌍World Championship Qualifying2025
⚙️Industrial Design2023
⚙️Innovation in Control2022
🏅Regional Winners2022
🔧Excellence in Engineering2022
🏗️Quality Award2021
43
Public Repositories
43K+
Lines of Java
28
Years of Competition in FRC

# Robot Code Analysis: 2021–2026

A year-by-year breakdown of the competition code, the technologies employed, and the key programming capabilities demonstrated in each season.

# 2026: Rebuilt

Repository: teamresistance/2026_Rebuilt · 50+ Java files · 5000+ lines · Command-Based · Swerve Drive

# Key Technologies & Capabilities

  • Swerve Drive w/ Phoenix 6: TalonFX modules with CTRE Phoenix 6 library, Pigeon2 & NavX gyro support, high-frequency odometry thread to maximize our accuracy
  • 4-Camera PhotonVision: Front-left, front-right, back-left, and back-right cameras for full-field AprilTag coverage to optimize shooting
  • Full Simulation Layer: Sim implementations for drive, shooter, climber, intake, and hopper: every subsystem can run without hardware
  • AdvantageKit Logging: IO-layer abstraction pattern with Real/Sim implementations; full match replay capability
  • Interpolation-Based Shooting: Distance-to-RPS, distance-to-hood, and time-of-flight InterpolatingDoubleTreeMap lookup tables
  • Bump Zone Awareness: Automated drive-angle and speed-limiting when in field bump zones using BumpUtil
  • SysId Characterization: Built-in SysIdRoutine for drive motor feedforward characterization to optimize testing and calibration
  • CI/CD Pipeline: GitHub Actions with build, lint (MegaLinter + Spotless), SonarQube scan, automated testing, and Dependabot
  • LED Subsystem: Programmable LED feedback for robot state communication, priority-based LED subsystem

# 2025: ReefScape

Repository: teamresistance/2025_ReefScape · 49 Java files · 6,903 lines · Command-Based · Swerve Drive

🏆 Autonomous Award: Orlando Regional 🏆 Autonomous Award: Tallahassee Regional 🌍 World Championship Qualifier (Hopper Division)

# Key Technologies & Capabilities

  • Award-Winning Autonomous: Won the Autonomous Award at both regionals; system used 5 PhotonVision cameras for full AprilTag field localization, employed automation in teleop as well
  • Auto-Scoring System: Vision-guided autonomous scoring at all 12 reef poles (A–L), auto-aligning to the closest reef face with velocity-compensated targeting
  • Custom Co-Driver Interface: Dedicated InterfaceSubsystem with button box (split across two HID devices) for selecting reef position and level during the main season
  • Pneumatic Elevator & Flipper: Intertwined FlipEleSubsystem with coral detection sensors, timed solenoid sequences, and centerer/gripper/flipper coordination
  • AdvantageKit + Elastic Dashboard: Logging framework with Elastic Dashboard integration for optimal driver dashboardery
  • Custom Pathplanning and PathPlanner: Dual path planning libraries for pre-generated and dynamic autonomous trajectories
  • Cage Climbing: Autonomous cage alignment and chooser maximizing our climb efficiency

# 2024: Crescendo

Repository: teamresistance/2024-Crescendo · 66 Java files · 10,084 lines · Hybrid (Timed + AdvantageKit) · Mecanum Drive

# Key Technologies & Capabilities

  • Swerve Drive & Trajectory System: Full swerve with custom trajectory functions: AimAtSpeaker, GoToNote, GoToTarget, heading-based movement, and timed maneuvers
  • Dual Vision (LimeLight + PhotonVision): LimeLight for automatic note targeting plus Orange Pi vision coprocessor support for PhotonVision pose estimation
  • PID-Controlled Shooter: Dual NEO motors with individual speed control, Speaker vs Amp shooting modes, multi-step loading/unloading system
  • Custom Hardware Abstraction: Proprietary IO layer with wrappers: MotorPID_NEO, MotorPID_Flex, Encoder_Flex, Encoder_Neo, InvertibleSolenoid
  • Built-In Testing Framework: Dedicated test classes: TestHdw, TestMtrPct, TestMtrFPS for motor and hardware verification
  • Snorfler + Shooter Coordination: Cross-subsystem requests between intake (“snorfler”) and Shooter with autonomous injection timing
  • Custom Math Utilities: PropMath interpolation, PIDXController, Array2d, and industrial timer classes (OnDly, OffDly, Pulse)

# 2022: Rapid React

Repository: teamresistance/2022-Rapid-React · 60+ Java files · 14,352 lines · Timed Robot · Tank Drive

⚙️ Innovation in Control Award: Orlando Regional 🏅 Regional Winners: Tallahassee Regional 🔧 Excellence in Engineering: Tallahassee Regional

# Key Technologies & Capabilities

  • Award-Winning Controls: Innovation in Control Award for custom trajectory system with 15+ trajectory primitives including curve turns, waypoints, and heading-based movement
  • Advanced Trajectory Engine: Custom ATrajFunction abstract class with implementations: CirToHdgCurve, CirToHdgTank, CurveTurnTm, MoveOnHdg, TurnNMove, Waypt3
  • Differential Drive with PID: DifferentialDrive with tank, arcade, and curvature modes plus heading-hold PID and distance PID controllers
  • 6 Autonomous Routines: AutoDrv00 through AutoDrv05 providing position-specific auto routines with integrated shooting and intake
  • Coordinate System Tracking: Custom CoorSys class for real-time field-position tracking via wheel encoders (NEO, Talon, Powerfuse variants)
  • Comprehensive Test Suite: Individual test classes for every subsystem: ClimbTest, ShootTest, SnorfTest, DriveTest, CompressorTest
  • PathWeaver Integration: PathWeaver trajectory testing alongside the custom trajectory system

# 2021: Infinite Recharge (At Home)

Repository: teamresistance/2021-Recharging-Again · 45 Java files · 6,184 lines · Timed Robot · Differential (Tank) Drive

🏗️ Quality Award: IR@Home

# Key Technologies & Capabilities

  • Turret with Vision Tracking: Motorized turret with analog potentiometer feedback, limit switches, and LimeLight-guided auto-aim using custom interpolation
  • Ball Handler Pipeline: Four coordinated subsystems: Snorfler → Revolver → Injector → Shooter for complete ball path management
  • Trajectory Foundation: Early version of the custom trajectory function system with waypoint navigation, heading turns, and curve-based paths
  • PropMath Interpolation: Custom proportional math library for non-linear input-to-output mapping using 2D span arrays
  • PIDXController: Custom extended PID controller implementation used across drive and mechanism subsystems
  • LimeLight Integration: Target detection, on-target checking with configurable deadbands, LED mode control

# Technical Evolution

The team’s software architecture across 5 competition seasons.

2021
Tank Drive + Timed Robot: Custom hardware IO layer, LimeLight vision, turret auto-aim, proprietary trajectory system foundations, PropMath interpolation library.
2022
Advanced Trajectory Engine: 15+ trajectory primitives winning the Innovation in Control Award. Custom coordinate tracking, comprehensive test suites, 6 position-specific autonomous routines. Regional Champions.
2024
Swerve Drive + AdvantageKit: Transitioned from tank to swerve drive. Integrated AdvantageKit for structured logging. Added PhotonVision alongside LimeLight. Built custom hardware abstractions for NEO and Flex motors.
2025
Full Command-Based Architecture: Complete transition to WPILib Command-Based. 5-camera PhotonVision for full-field localization. Highly advanced path planning. Auto-align reef scoring. Elastic Dashboard integration. Won Autonomous Award ×2 and qualified for World Championship.
2026
Simulation-First + CI/CD: Full simulation layer for every subsystem. GitHub Actions CI pipeline (build, lint, SonarQube, testing). Interpolation-based shooting. Bump zone awareness. Reusable Drive Template established for future seasons.

# Supporting Tools & Resources

Training, development, and infrastructure tools built alongside competition code.

  • Drive Template: Reusable swerve base template with Phoenix 6, AdvantageKit, PhotonVision, PathPlanner, and maple-sim. Serves as the starting point for each new season.
  • Training Site: Comprehensive training website covering 18+ topics: motors, sensors, PID, swerve, vision, pathfinding, command-based architecture, and more.
  • PID Lab: Python-based motor control simulator for experimenting with PID in speed/position modes. Gear ratios, loads, and real-time plotting of voltage, current, and output.
  • Newbie Gym: Experimentation sandbox for new programmers to learn, break things, and build confidence before working on competition code. 28+ pull requests of student work.
  • CI/CD Pipeline: GitHub Actions with build verification, MegaLinter + Spotless auto-formatting, SonarQube static analysis, Dependabot dependency updates, and automated test runs.

# Highlights

  • Award History: Autonomous Award ×2 (2025), Innovation in Control (2022), Regional Champions (2022), World Championship (2025)
  • Vision Mastery: Evolved from a single LimeLight (2021) to a 5-camera PhotonVision array with polynomial regression confidence models
  • Simulation-First: Every subsystem has a simulation implementation, enabling even autonomous routine testing without a physical robot
  • Tank → Swerve Transition: Successfully migrated from differential drive to swerve in 2024
  • Data-Driven: AdvantageKit logging for full match replay, Elastic Dashboard for live telemetry, SysId for motor characterization
  • Training Pipeline: Dedicated training site, PID simulator, Newbie Gym sandbox, and GitHub intro course
  • Professional Practices: CI/CD pipeline, code linting, static analysis, automated testing, and Dependabot dependency management
  • 43 Public Repositories: Over a decade of open-source code, from 2014 to present, available to the FRC community