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Code · 2023 · CHARGED UP

2023 Robot Code (Nova)

Code for Nova, our 2023 Charged Up robot, which has a tall chain-driven arm for picking up and placing game pieces. It uses a Swerve Drive Specialties swerve drivetrain.

What’s in it

1661-RobotCode-2023

  • Swerve drivetrain built on the Swerve Drive Specialties library, with a NavX gyro
  • Arm and claw subsystems, plus a game piece mode toggle
  • Several autonomous routines, including placing a cube and then taxiing or balancing
  • A small Xbox controller wrapper and a default drive command
  • Java
  • Swerve drive
  • NavX
  • Arm
  • Autonomous
View on GitHubSee the robotAll code
2023 robot, Nova
Nova

Tech at a glance

Language
Java 11
Framework
WPILib 2023 (command-based)
Vendor libraries
CTRE Phoenix, NavX, SDS swerve library

Try it

Quick start

Build./gradlew build
Simulate./gradlew simulateJava
Deploy to a roboRIO./gradlew deploy

Full instructions are in the README on GitHub.

This code is released under the MIT License, so you are welcome to learn from it and reuse it.

Keep exploring

Related code

2024

2024 Robot Code (Eclipse)

Code for Eclipse, our 2024 Crescendo robot, which won the Excellence in Engineering Award at the Los Angeles Regional.

2022

2022 Robot Code (Eve)

Code for Eve, our 2021-22 Rapid React robot, which picks balls up off the floor with rollers.

Want to join?

If you go to Buckley, come by the robotics room after school. We’ll find something for you to work on.

Join the teamMeet our robots