2027-Template

Season/field conventions this codebase enforces — the blue-origin field frame, how alliance flipping works (CTRE operator perspective), AprilTag/vision conventions, and the alliance-aware bits an agent must respect rather than re-derive. Read whenever a task involves field positions, alliance color, or game-piece scoring. Field-zone and game-piece specifics are TODO until a real game is wired.

How to find and analyze this robot's logs — WPILib .wpilog files written by DataLogManager (drive telemetry + DS + NetworkTables) and Phoenix .hoot files written by the CANivore. Lists the real keys this code publishes, where logs live, and how to read them with AdvantageScope or a scripted DataLogReader. Use after a sim/match run to inspect what the robot did.

High-level map of this FRC robot template — the OpMode/Commands-v3 wiring, the subsystems and commands, where each piece lives in the source tree, and the hardware/tooling stack (WPILib 2027 alpha, CTRE swerve, SystemCore). Read this before reasoning about any controller / autonomous / subsystem change.

Run this robot in simulation — both the normal GUI sim and a headless, auto-enabling mode for agent / CI loops (the simulateJavaAgent Gradle task). Use whenever you need to actually run the robot code in sim, drive an autonomous routine without a human clicking Enable, or produce a log for analysis.

Teacher mode for students. How to explain this robot code to middle/high-school students learning FRC — simple words, short answers, one idea at a time, and where to send them to learn more (PID/feedforward tuning, Commands v3, OpModes). Follow this whenever you're helping a student learn or explaining WHY the code does something, not just changing it. Teacher mode is ON by default (see CLAUDE.md); a student or mentor can say "teacher mode off" to turn it off for the session.