layout	default
title	2026-bot | Miami Beach Bots

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This is the main codebase for Team 2026's 2026 robot (REBUILT). We're running a tank drive with a bunch of extra hardware: auto-aiming turret, PhotonVision for AprilTags, and a Coral TPU for onboard ML.

Status

Work in progress. We've got the drive base setup and CAN IDs mapped out, but hardware testing is still pending.

Component	State
Tank Drive	✅ Init
CAN Mapping	✅ Ready
Drive Test	⚠️ Pending
Subsystems	🚧 In Development
Autos	🚧 TBD

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Quick Start

git clone git@github.com:MiamiBeachBots/2026-bot.git
cd 2026-bot
./gradlew build        # pull deps + compile
./gradlew deploy       # push to RIO (needs robot wifi)
./gradlew simulateJava    # run it in sim

Note: Make sure you're on the robot's wifi (10.20.26.x) before you try to deploy.

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Technical Hub

Detailed guides for our workflow and system specs:

• Contributing — how we handle branches and PRs
• Style Guide — code formatting (no tabs, please)
• Commit Guide — naming conventions for git
• Controls — what button does what
• Deploy Guide / Assist — setup and troubleshooting

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System Architecture

Auto Aim Logic

graph TD
  A[DriveSubsystem] -->|Odometry| C(Calculations)
  B[CameraSubsystem] -->|AprilTags| C
  C -->|Lead Calc| D{Result}
  D -->|Yaw| E[PIDController]
  E -->|Voltage| G{Sum}
  F[SimpleFeedforward] -->|FF| G
  G -->|setVoltage| H((Turret Motor))

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Fire Control

stateDiagram-v2
  [*] --> SpinUp: Trigger
  SpinUp --> Feed: RPM Ready
  Feed --> SpinUp: RPM Drop
  Feed --> [*]: Release

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Navigation

graph LR
  A[PhotonVision] -->|Pose| B(Pose Estimator)
  C[Coral TPU] -->|Game Pieces| B
  B -->|Pose2d| D[PathPlanner]
  D -->|Trajectory| E((DriveSubsystem))

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CAN Bus Map

ID	Subsystem	Motor	Type
1	Drive	Front Right	NEO
2	Drive	Back Right	NEO
3	Drive	Front Left	NEO
4	Drive	Back Left	NEO
5	Intake	Main	NEO
6	Intake	Secondary	NEO
7	Loader	Motor 1	NEO
8	Loader	Motor 2	NEO
9	Loader	Motor 3	NEO
10	Turret	Rotation	NEO
11	FireControl	Kicker	NEO

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Sponsors

Thanks to our sponsors for keeping the lab running:

Gene Haas Foundation · Waldom Electronics · Give Miami Day · Intuitive Foundation · MDCPS · Cordyceps Systems · MBSH PTSA · FIRST Robotics · Metal Supermarkets

Miami Beach Senior High — Miami Beach, Florida