9584 WCP Code 2026

This repository contains the code used for the 9584 version of the WestCoast Products 2026 Competitive Concept.

The project is based on one of CTRE's Phoenix 6 example projects. It uses WPILib command-based programming to manage robot subsystems and actions, a Limelight for vision, and Pathplanner for autonomous path following.

Simulation We use MapleSim with AdvantageScope for simulation. Using xbox controller to control in the simulation

To start up simulation:

1. Install MapleSim and AdvantageScope from their respective websites.
2. Run ./gradlew simulateJava in the terminal or WPILib: Simulate Robot Code to start the simulation.
3. Open AdvantageScope and connect to the simulator.
   • On Windows, either do File > Connect To Simulator > Default: NetworkTables 4 or press Ctrl+Shift+K to connect.
   • On Mac, press Ctrl+Shift+K to connect.
4. Once connected, in the sidebar expand Pose and drag robotPose into the Poses box at the bottom so the robot appears on the field.
5. In the AdvantageScope tree, expand AdvantageKit > RealOutputs > Fuel Simulation and drag Fuels into a graph or table to monitor simulated fuel levels alongside the pose.
6. Open App > AdvantageScope (left top corner) and set Use Custom Assets Folder to ~/9584-wcp-code-2026/ascope_assets so the custom 9584 robot model loads in the viewer.