# Table of Contents for Software Tools

Table of Contents with links for all the software tools we use to code robots here at Yeti!

**[Git](https://git-scm.com/)** - A version control system widely used in the industry and on our team that helps track code changes, manage branches, and collaboration with the team.

**[Github](https://github.com/yeti-robotics)** - Online platform for hosting Git repositories, allows for code sharing, pull requests, and team collaboration. This is where we have all of our code stored, viewable publicly.

**[WPILib](https://docs.wpilib.org/en/stable/)** - The official library used by us and all other FRC Teams to code robot subsystems, motors, sensors, and much more. Should answer a good amount of questions you have, or at least lead you to somewhere where you can find an answer!

[**Phoenix** **6**](https://v6.docs.ctr-electronics.com/en/stable/) - CTRE’s Motor Controller Library that allows us to configure and support devices such as TalonFX. Also really helpful and can answer a lot of the questions you have regarding Motor Control.

[**Phoenix Tuner**](https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/index.html) - CTRE’s application that allows you to configure, test, and update CTRE CAN devices like Talons. Helpful documentation regarding tuning as well.

**[PhotonVision](https://photonvision.org/)** - An open-source vision system that detects AprilTags and other such objects and sends pose data to the robot. Helpful documentation regarding vision related questions.

**[Limelight](https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)** - Another vision system that detects AprilTags and other such objects, similar to PhotonVision. Helpful documentation regarding vision related questions.

[**AdvantageKit**](https://docs.advantagekit.org/) - A logging framework that records all robot data and actions. We plan to experiment with this as a team this season, so it has very helpful documentation!

[**AdvantageScope**](https://docs.advantagescope.org/) - A visual dashboard that reads logs from AdvantageKit and displays field position, sensor data, and timelines in real time or replay. This is also something we use a lot as a team!

**[Localization](https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html)** - The process used to calculate the robot's position on the field using data from encoders and vision inputs like AprilTags.

**[Driverstation](https://docs.wpilib.org/en/stable/docs/software/driverstation/driver-station.html)** - FIRST’s official software that we use to control the robot during matches, viewing system status, and switching between robot modes.

**[Simulation](https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/introduction.html)** - A WPILib feature that allows teams to test robot code on a virtual field without needing a real robot.

[**Path Planner**](https://pathplanner.dev/home.html) - A path generation tool that lets teams design and follow autonomous paths, especially for swerve and tank drivetrains. We use this as a team to generate autonomous paths!

**[Choreo](https://choreo.autos/)** - Another path generation tool that lets team design and follow autonomous paths. We are looking into Choreo this off-season, and comparing it with Path Planner to see which one is better for our team to use!

**[Elastic](https://docs.wpilib.org/en/stable/docs/software/dashboards/elastic.html)** and **[Elastic Documentation](https://frc-elastic.gitbook.io/docs)** - A customizable FRC dashboard that connects to NetworkTables for live monitoring and debugging. This is the type of FRC Dashboard we use at YETI!

[**Network Tables**](https://docs.wpilib.org/en/stable/docs/software/networktables/index.html) - A public-subscribe messaging system that is used to communicate/send data between the robot, driver station, and other such things.