This repository contains the code used for the WestCoast Products 2026 Competitive Concept.
The project is based on one of CTRE's Phoenix 6 example projects. It uses WPILib command-based programming to manage robot subsystems and actions, a Limelight for vision, and Choreo for autonomous path following.
All controls are mapped to a single Xbox controller (Port 0).
| Input | Action |
|---|---|
| Left Stick | Drive (forward/backward & strafe) |
| Right Stick | Rotate |
| Back Button | Reset field-centric heading |
| Button | Heading |
|---|---|
| A | 180° (backward) |
| B | 90° (right) |
| X | 270° (left) |
| Y | 0° (forward) |
| Input | Action |
|---|---|
| Right Trigger (hold) | Auto-aim and shoot - aims robot at hub, spins up shooter, and feeds when ready |
| Right Bumper (hold) | Manual shoot - spins up shooter to dashboard RPM value and feeds |
| Input | Action |
|---|---|
| Left Trigger (hold) | Deploy intake and run rollers |
| Left Bumper | Stow intake |
| Input | Action |
|---|---|
| D-Pad Up | Extend hanger to hanging position |
| D-Pad Down | Retract hanger to hung position |