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A tuned CANrange is especially important to make sure detection is accurate and reliable! Read through this guide for some more in depth examples and instructions: https://v6.docs.ctr-electronics.com/en/latest/docs/application-notes/tuning-canrange.html C...

Akit in RobotContainer This is a general outline of what code should go where in your RobotContainer file. Setting up your Subsystems Before the constructor, create instances of all your subsystem classes, but DO NOT define them yet. private final LinSlide...

How to tune for Velocity We like to use MotionMagic because it makes speed changes smoother! We use MotionMagic for basically all of our motion profiles. When using a velocity profile, you are trying to get the motor to spin at a specific velocity instead of...

Downloading the Latest Version   If you don't already have the latest version of VS Code installed yet, download it from here: https://visualstudio.microsoft.com/downloads/   After downloading it, it'll open an instance Visual Studio Installer. Click throu...

WPILib Extension Download The VS Code Extension Marketplace doesn't natively come with the WPILib extension. Search up "WPILib Installer" on your browser of choice. Then, install the latest version and click on the .iso file in your recent downloads.  This...

Actually Replacing the Old Repositories Here, click on Clone Git Repository, and follow steps from the previous chapter to copy the HTTPS link and authorize VS Code access to your GitHub account. Then, you'll see this in the search bar, and select the repo...

Shooting Our Shot - How to Create an Interpolating Tree Map An Interpolating Tree Map (aka a Shooter Map) boiled down to its core is just linear regression. It was highly used during the Rebuilt Season for shooting into the hub and shuttling across the field....

This is a simple guide on how to tune MotionMagicTorqueCurrentFOC You can find the official Phoenix Tuning Guide here. Firstly, and most importantly, find your maximum and minimum setpoints!!!!!Put these as preset position rotations in Phoenix Tuner. If you ...

We always want to make sure that our robots are running the correct version of code during demos. We definitely don't want little kids driving the robot at max speed and shooting balls at max velocity! The code for Blizzard is located in the rebuilt-2026 repo...

Our 2026 robot, Blizzard, was one of our best. This robot took us from our district competitions all the way to World Champs in Houston where we played in Alliance 1 and won the Hopper division. Though we often had some very last minute changes (*cough* the ni...

Error The difference between 2 lines (i.e. Position & Reference or Velocity & ReferenceSlope) Gain Tuned values such as kP, kS, or kV Binary Search The process of finding an accurate gain while tuning Start at 1 and keep on doubling until...