Code · 2025 · REEFSCAPE

2025 Robot Code

Code for our 2025 Reefscape robot. An elevator and a wrist score coral at different heights, a climber handles the endgame, and a swerve drivetrain with Limelight vision drives up and lines up on the reef.

What’s in it

1661-RobotCode-2025

Swerve drivetrain on CTRE Phoenix 6 with Tuner X generated constants
Elevator, wrist, intake and climber subsystems, with manual, move-to and calibration commands
Automatic coral intake and an auto drive, aim and score command
PathPlanner autos, including a command that pathfinds, runs a command, then follows a path
SysId characterization commands and an autonomous debugger for tuning

Java
Swerve drive
Phoenix 6
PathPlanner
Limelight
Elevator

View on GitHub See the robot All code

Tech at a glance

Language: Java 17
Framework: WPILib 2025 (command-based)
Vendor libraries: Phoenix 6, PathPlanner, REVLib

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

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2026 Robot Code

Code for our 2026 robot, which won the Creativity Award at the Ventura District event.

2024

2024 Robot Code (Eclipse)

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

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 team Meet our robots