FRC Robot Project - Sim Skeleton

This is an FRC robot project using WPILib 2025, AdvantageKit, and CTRE Phoenix 6.

Prerequisites

• WPILib 2025 installed (includes Java JDK)
• Visual Studio Code with WPILib extension (recommended)

Build Instructions

Windows

The project uses Gradle for building. The Java JDK is included with WPILib installation.

# Set JAVA_HOME to WPILib's JDK and build
JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build

# Or use the gradlew wrapper directly if JAVA_HOME is configured in your environment
./gradlew build

Common Build Issues and Solutions

Issue 1: JAVA_HOME not set

Error: ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH

Solution:

• On Windows, WPILib's JDK is located at C:\Users\Public\wpilib\2025\jdk
• Set JAVA_HOME before running gradlew: JAVA_HOME="C:/Users/Public/wpilib/2025/jdk" ./gradlew build
• Or set it permanently in your system environment variables

Issue 2: Command execution in Windows

Problem: Windows command prompt and bash handle commands differently

Solution:

• Use ./gradlew in Git Bash or WSL
• Use gradlew.bat in Windows Command Prompt
• In PowerShell, use ./gradlew or .\gradlew.bat

Important Notes

CTRE Phoenix 6 API

When using CTRE Phoenix 6 with TalonFX (Kraken X60):

• Status signals use typed units (Angle, AngularVelocity, Voltage, etc.) not raw doubles
• Use .getValue().in(Units.YourUnit) to get numeric values
• Current limits: Use SupplyCurrentLimit and StatorCurrentLimit (not threshold-based)
• FOC (Field Oriented Control) is available and recommended for better performance

Example:

// Correct Phoenix 6 usage
StatusSignal<Angle> positionSignal = motor.getPosition();
double rotations = positionSignal.getValue().in(Units.Rotations);

// Incorrect (won't compile)
StatusSignal<Double> positionSignal = motor.getPosition(); // Type mismatch!