WPILib 2026 Java Swerve Template

This is a team-ready Java 17 robot template for a CTRE TalonFX/Pigeon2 swerve drivetrain using AdvantageKit, PhotonVision, BLine autonomous paths, and PathPlanner teleop pathfinding.

The drivetrain is intended to be finished infrastructure. Teams configure IDs, dimensions, offsets, limits, cameras, autos, and yearly goals; they should not rewrite Drive, Module, Phoenix odometry, or the IO/simulation/replay layers for each robot.

Docs

The full manual lives in docs/ and is built with MkDocs Material.

Local preview:

pip install -r docs/requirements.txt
mkdocs serve

Strict build:

mkdocs build --strict

GitHub Pages deployment is handled by .github/workflows/docs.yml on pushes to main.

Robot build

./gradlew build
./gradlew test
./gradlew simulateJava

Set the team number in .wpilib/wpilib_preferences.json, configure the CTRE-generated constants, calibrate the swerve modules, and read the docs before deploying on the floor.