RaidZero FRC 2025

4253 Raid Zero robot code for 2025 Reefscape season

Subsystem details

Climb

Device Name	Device Type	CAN ID	CAN Bus
Climb Joint	TalonFX - Kraken	17	RoboRIO
Climb Winch	TalonFX - Kraken	16	RoboRIO

Limelight

Offsets table

Limelight	IP	X	Y	Z	Roll	Pitch	Yaw
FL	10.42.53.11	-0.2155	0.2216	0.2689	0.0	20.0	-45.0
FR	10.42.53.12	0.2155	0.2216	0.2689	0.0	20.0	45.0
BR	10.42.53.13	0.2445	0.2216	-0.2521	0.0	35.0	-135.0
BL	10.42.53.14	-0.254	0.2286	0.1778	0.0	45.0	180.0

Directions

• X is left-right direction
  • Left is negative, right is positive
• Y is up-down direction
  • Down is negative, up is positive
• Z is forward-backward direction
  • Backward is negative, forward is positive
• Counterclockwise is positive degrees

Notes

• Forward of the bot is the scoring side
• Back of the bot contains the RoboRIO
• All units are in meters and degrees
• XYZ measurements are relative to the center of the bot in CAD

Swerve

Device Name	Device Type	CAN ID	CAN Bus
RotorFL	TalonFX - Kraken	6	CANivore - "CANdoAttitude"
ThrottleFL	TalonFX - Kraken	5	CANivore - "CANdoAttitude"
CANCoderFL	CANCoder	3	CANivore - "CANdoAttitude"
RotorFR	TalonFX - Kraken	4	CANivore - "CANdoAttitude"
ThrottleFR	TalonFX - Kraken	3	CANivore - "CANdoAttitude"
CANCoderFR	CANCoder	2	CANivore - "CANdoAttitude"
RotorBL	TalonFX - Kraken	8	CANivore - "CANdoAttitude"
ThrottleBL	TalonFX - Kraken	7	CANivore - "CANdoAttitude"
CANCoderBL	CANCoder	4	CANivore - "CANdoAttitude"
RotorBR	TalonFX - Kraken	2	CANivore - "CANdoAttitude"
ThrottleBR	TalonFX - Kraken	1	CANivore - "CANdoAttitude"
CANCoderBR	CANCoder	1	CANivore - "CANdoAttitude"
Pigeon	Pigeon2 IMU	0	CANivore - "CANdoAttitude"

Telescoping arm

Arm

Device Name	Device Type	CAN ID	CAN Bus
Telescopingarm Joint	TalonFX - Kraken	10	RoboRIO
Telescopingarm Telescope	TalonFX - Kraken	11	RoboRIO
Joint CANCoder	CANCoder	11	RoboRIO

Coral intake

Device Name	Device Type	CAN ID	CAN Bus
CoralIntake	TalonFXS - Minion	12	RoboRIO
CoralIntake follow	TalonFXS - Minion	13	RoboRIO
LaserCAN top	Grapple Robotics - LaserCAN	1	RoboRIO
LaserCAN bottom	Grapple Robotics - LaserCAN	0	RoboRIO

Controls

Driver

Input Type	Function	Tap/Hold
Left Stick X	Field relative Y speed	N/A
Left Stick Y	Field relative X speed	N/A
Right Stick X	Robot rotation speed	N/A
Left Bumper	Extake coral	Hold
Right Bumper	Intake coral	Tap
A	Robot centric slowed driving	Hold
B	OTF to closest station	Hold
X	OTF to closest left reef	Hold
Y	OTF to closest right reef	Hold
POV Right	X swerve brake	Hold

Operator

Button ID	Function	Tap/Hold
1	Retract climb winch (Up)	Hold
2	Deploy climb	Tap
3	Extend climb winch (Down)	Hold
4	Check L4 slam	Hold
5	L4 Slam	Tap
6	Unbound	N/A
7	Arm L2	Hold
8	Arm L3	Hold
9	Arm L4	Hold
10	Extake coral	Hold
11	Intake coral	Tap
12	Scooch coral upwards	Tap
13	Reset intake Y offset	Tap
14	Unbound	N/A
15	Decrease intake Y offset	Tap
16	Increase intake Y offset	Tap

Libraries/APIs used

• Phoenix 5
• Phoenix 6
• PathPlannerLib
• LimelightLib
• ElasticLib
• libgrapplefrc