Team 581's 2026 Robot Code Monorepo

Team 581's 2026 robot code monorepo.

Project Structure

This repository is organized as a Gradle monorepo with the following projects:

• shared/ - Shared utility library
• turret-bot/ - Turret testbed for software development
• dumper-bot/ - Triple barrel shooter alpha bot
• beta-bot/ - CA District Silicon Valley Event bot (dye rotor + turret)
• comp-bot/ - Competition dumper bot

Building and running

Build

# Build all projects
./gradlew build

# Build specific project
./gradlew comp-bot:build

Deploy to roboRIO

./gradlew comp-bot:deploy

Running the simulator

# Run simulator for specific project
./gradlew comp-bot:simulateJava

Running tests

# Run all tests
./gradlew test

# Run tests for specific project
./gradlew comp-bot:test

Code formatting

# Check formatting
./gradlew spotlessCheck

# Apply formatting
./gradlew spotlessApply

Installing Java

WPILib ships with JDK 17, but we use JDK 21. These instructions describe how to install JDK 21 and set it up in WPILib VS Code.

Windows

1. Run winget install -e --id EclipseAdoptium.Temurin.21.JDK
2. In VS Code, run "Preferences: Open User Settings (JSON)" from the command palette
3. Delete config values referencing the WPILib JDK
   • java.jdt.ls.java.home
   • java.configuration.runtimes
   • terminal.integrated.env.windows -> JAVA_HOME

macOS

1. Install Brew /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
2. Run brew bundle
   • This will install all tools for development, including WPILib itself
   • If you just want to install the JDK, run brew install openjdk@21
3. In VS Code, run "Preferences: Open User Settings (JSON)" from the command palette
4. Delete config values referencing the WPILib JDK
   • java.jdt.ls.java.home
   • java.configuration.runtimes
   • terminal.integrated.env.osx -> JAVA_HOME