TestBoard

A WPILib project for testing prototype mechanisms on a test board (RoboRIO + motors only).

Purpose

This project is designed for students to test subsystems independently, without needing a full robot drivetrain. All commands are exposed on SmartDashboard so you can run them from Shuffleboard.

Current Subsystems

Shooter

• Left Motor (CAN 21): Kraken X60 - Leader
• Right Motor (CAN 22): Kraken X60 - Follower (opposed direction)
• Uptake Motor (CAN 20): Kraken X44

How to Add a New Subsystem

1. Add CAN IDs to RobotMap.java

   public static final int kMyMotorPort = 30;

2. Add Constants to Constants.java

   public static final class MySubsystemConstants {
       public static final double kMotorSpeed = 0.5;
       public static final Current kCurrentLimit = Amps.of(40);
   }

3. Create the Subsystem class in subsystems/

   • Copy ShooterSubsystem.java as a template
   • Configure your motors
   • Add command factory methods

4. Register in RobotContainer.java

   • Instantiate your subsystem
   • Add commands to SmartDashboard

Running Tests

1. Deploy code to the RoboRIO
2. Open Shuffleboard
3. Find your commands under the subsystem name (e.g., "Shooter/Run Shooter")
4. Click the command button to run it

Project Structure

src/main/java/com/adambots/
├── Main.java           # Entry point
├── Robot.java          # Robot lifecycle
├── RobotContainer.java # Subsystem setup & dashboard commands
├── RobotMap.java       # CAN IDs and port assignments
├── Constants.java      # Subsystem constants
└── subsystems/
    └── ShooterSubsystem.java