GRRBase

A template repository for Java-based robots in the FIRST Robotics Competition.

Highlights

• Swerve API

  Supports various hardware configurations, from vendors such as CTRE, REV, and Redux Robotics, with features such as high frequency odometry, a custom ratelimiter to improve driver control while also reducing wheel scrub, and built-in support for tuning the drivetrain's configuration live via NetworkTables.

• Pre-defined Loggers

  Utilizing Epilogue, an annotation-based logging framework, custom loggers for vendor and WPILib APIs are pre-defined to transparently log relevant data from the robot's hardware.

• Various other utilities

Getting Started

Creating your repository

1. On GitHub, navigate to the main page of this repository.
2. Above the file list, click Use this template.
3. Select Create a new repository.

See also: GitHub Docs

Prerequisites

• WPILib 2025.x
• Node.js (v22 LTS Recommended)

Node.js is required to support linting via Spotless, using the Prettier style guide. You can apply these rules by building, or by running ./gradlew spotlessApply. Alternatively, if you wish to disable code formatting, you can do so with the following modifications to build.gradle:

Expand

diff --git a/build.gradle b/build.gradle
index 834d562..a2837c8 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,7 +1,6 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2025.3.2"
-    id "com.diffplug.spotless" version "7.0.3"
 }

 java {
@@ -91,30 +90,6 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }

-// Code formatting via spotless
-spotless {
-    java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
-        }
-
-        toggleOffOn()
-        endWithNewline()
-        removeUnusedImports()
-        trimTrailingWhitespace()
-        prettier(['prettier': '3.4.2', 'prettier-plugin-java': '2.6.7'])
-            .config([
-                'parser': 'java',
-                'plugins': ['prettier-plugin-java'],
-                printWidth: 120,
-                tabWidth: 4,
-                useTabs: false,
-                trailingComma: "none"
-            ])
-    }
-}
-
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
@@ -142,5 +117,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-    dependsOn 'spotlessApply'
 }

You may also want to modify robot-code.yml to remove the formatting check from CI:

diff --git a/.github/workflows/robot-code.yml b/.github/workflows/robot-code.yml
index 313b56e..4e26616 100644
--- a/.github/workflows/robot-code.yml
+++ b/.github/workflows/robot-code.yml
@@ -5,32 +5,6 @@ env:
   NODE_VERSION: 20

 jobs:
-  format:
-    name: Check Format
-    runs-on: ubuntu-latest
-    container: wpilib/ubuntu-base:22.04
-
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Add repository to git safe directories
-        run: git config --global --add safe.directory $GITHUB_WORKSPACE
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: ${{ env.NODE_VERSION }}
-          registry-url: https://registry.npmjs.org/
-
-      - name: Grant execute permission for gradlew
-        run: chmod +x gradlew
-
-      - name: Check robot code formatting
-        run: ./gradlew spotlessCheck
-
   build:
     name: Build
     runs-on: ubuntu-latest

Configuring the project for your team

First, ensure wpilib_preferences.json is configured for your team number:

{
    "teamNumber": 340
}

(Optional) If you decide to modify the package name for your robot code (by default, org.team340.robot), you must update your build.gradle to reflect the new location of the project's Main class:

def ROBOT_MAIN_CLASS = "com.example.robot.Main"

Versioning

Due to the nature of GitHub templates, GRRBase is intentionally not versioned. It may be helpful to save the commit hash utilized when creating your repository for future reference. The main branch of this repository should be expected to always remain stable.

If you wish to manually sync changes to GRRBase with your project, simply copying the org.team340.lib package should suffice, as the robot package is only provided as example code. You should always independently check for dependency updates (see build.gradle and vendordeps), as it is likely for GRRBase to occasionally fall out of date.