🤖 2026 Robot Code - Ri3D Big Sky Robotics 🤖

Code for Big Sky Robotics Team from Montana State University ⛰️

Features

State Machines

SuperStructure

Finite State Machine for positions and velocities of all mechanisms. Numbers are tunable for quick testing.

SuperStateMachine

Finite State Machine for robot game action (intaking, scoring, climbing, ect.). Calls action state machines, such as ScoreStateMachine, or directly sets SuperStructure states

Action State Machines

Sequential state machines to handle compound actions cleanly while logging current state. Uses 2930 State Machine library. Includes ScoreStateMachine and IntakeStateMachine. Example: When scoring, robot prepares by spinning up RPM and rotating to the hub, then when those conditions are met, indexes gamepieces to the flywheel.

Drivetrain

• State-based control (controller, path follow, drive to pose, rotate to angle)
• choreo path following
• Mecanum drive

Autonomous

• Auto Manager to create sendable chooser for paths
• AutoStateMachine to handle all auto logic

Development

• Become a member of the MSU Ri3D github organization
• Clone Repo in WPILib VSCode: https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-2/wpilib-setup.html
• Assign yourself to an issue: https://github.com/Montana-State-Ri3D/2026-Ri3D/issues
• Create a branch for your issue
• Link the branch in your issue
• Develop code
• Create pull request for your branch: https://github.com/Montana-State-Ri3D/2026-Ri3D/pulls
• Get another developer to review your code
• The other developer will merge into main when they approve your code 🔥

Credits

6328 Mechanical Advantage 🟦🟨

• Vision template: https://docs.advantagekit.org/getting-started/template-projects/vision-template/
• Utils: https://github.com/Mechanical-Advantage/RobotCode2025Public/tree/main/src/main/java/org/littletonrobotics/frc2025/util

2930 Sonic Squirrels

• Utils: https://github.com/FRC-Sonic-Squirrels/2025-Robot-Code/tree/main/src/main/java/frc/lib/team2930

WPILib

• Foundational libraries