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Testing code before merging it is important to ensure it works as intended. This page discusses how to checkout the correct branch, deploy the code, test it on the robot, and merge changes. Checking out your branch: Go to the terminal in Intellij by clicki...

Overview IntelliJ is the IDE that we recommend for robot programming on YETI. This page will go over how to use IntelliJ effectively and efficiently. Reading this will make you epic at navigating and organizing your project  Fuzzy Find Fuzzy Find in Intel...

Troubleshooting Whenever facing unknown problems at comp, the first thing to do is check the match logs and replay them in AdvantageScope. This will likely reveal the nature of the issue you face, whether it be excessive CPU usage or driver error. When...

Overview There are a couple of steps involved with setting up your bot's motors, and this page will cover these steps. Updating ID and Name Updating the ID and name of motors contributes functionally to address the motors in code and organizationally to und...

It's important to make sure the correct code is deployed to the robot before demos to ensure there are no unwanted bugs (secret features) that could jeopardize the quality of the demo. This page will guide you through selecting and deploying the correct branch...

Being able to operate the driver station (DS) is necessary to operate the robot. This will guide you through the things you need to know when using the DS at demos. This is the operation tab. Selecting different modes on the menu at 1 will allow you to swit...

Overview and Resources: PathPlanner is a pathing tool developed by team #3015 and is fairly easy to use because of its intuitive, visual nature. Here are the docs: https://pathplanner.dev/home.html This page will show you how to effectively use the tool: ht...

Overview and Resources This tool was created by a developer group called Sleipnir Here are the docs for Choreo: https://choreo.autos/ This guide will walk you through how to use Choreo: https://choreo.autos/usage/editing-paths/ This page will be further ...

Plot (pluh): One of the most valuable tools for your tuning endeavors is the Phoenix Tuner plot. The reason this is so useful is that it shows you how much your mechanism is off (in terms of position and velocity) in an intuitive manner. Read through this gu...

Overview Pathplanner and Choreo are two solutions to generating paths in the autonomous period, and they are quite similar in many respects. At the time this page is being written (Summer 2025), YETI doesn't have experience with using Choreo. Therefore, it is...

Overview During demos, it's generally pretty important to know what buttons make your robot move. Sometimes, these controls will not be readily available to you in the form of a graphic or a veteran. This page will guide you through how to figure out your con...

Overview Using composable functions essentially means ordering commands and paths into autos that are created as commands. This is, after some consideration, what YETI prefers to use to create autos. It is important to note that, while commands are created an...

Overview Making autos can be hard. This page will go over some tips on how to effectively create and improve autos. Tips and Stuff: Initial Orientation and Tag Visibility: So, one afternoon (literally the day we had to pack for world champs lol) in 2025, we...

This is the presentation that YETI gives as part of our software curriculum on using git. Take a look!

Our 2024 robot, Kitty, was truly epic. This bot took us all the way to world champs in Houston, where we played as Captain of Alliance 6 on the Newton Division. Though this robot was decapitated at one point, it's truly a gem of a bot. Drive it with care! Ki...

Beluga, affectionately called Belly, was our 2025 robot. This robot lasted to the very end of qualification matches in the Galileo Division at world champs. Powder-coated with a slick black finish, it was certainly a machine to look at and to drive. Though at ...

Cowlibration is a field calibration tool developed by FRC team #1538, The Holy Cows. https://github.com/TheHolyCows/cowlibration-field

Tuning Advice Try tuning using the following steps: Use MotionMagicTorqueCurrentFOC Start with all gains 0 Set kA to 1 Set Motion Magic cruise velocity to 1 Set Motion Magic cruise acceleration to 2 Slowly increase kS starting from 1, doubling as need...