github.com/Patribots4738/ChargedUp2023 ↗

About Patribots4738/ChargedUp2023

The Patribots are a high school robotics team from Patrick Henry High School in San Diego competing in the FIRST Robotics Competition. This repository contains the complete Java codebase for their 2023 competition robot, built entirely by student programmers. The project demonstrates professional software engineering practices with clear documentation, modular code organization, and thoughtful architecture suitable for educational purposes.

The robot features a sophisticated drivetrain using field-centric swerve drive technology combined with a two-link arm controlled through inverse kinematics calculations. Additional capabilities include autonomous balance on the charge pad using gyroscopic feedback, automatic alignment and placement for game objects using AprilTag vision processing with PhotonVision, and modular autonomous routines that can be configured for different match strategies. The codebase also includes hardware abstraction layers for subsystems like the arm, claw gripper, and swerve modules, plus custom LED control through an Arduino integration.

The code is well-structured across several main packages: calculation utilities handling inverse kinematics, vision processing, and custom joystick mathematics; hardware subsystems that manage motor control and sensor integration; and constants configuration. The project is open-source and actively maintained by student team members, presented with gracious professionalism typical of the FIRST community. The team encourages others to learn from their implementation and has made their competition performance metrics publicly available through tracking websites.