Example Code

2026 REV ION FRC Starter Bot Code Templates

EasySwerve Java Template
MAXSwerve Java Template

Deploying this project to your robot

Before you can deploy this project to your robot, you'll need to set your team number in /.wpilib/wpilib_preferences.json or via the "Set Team Number" tool in WPILib VSCode. You will need to update WPILib VSCode to a 2026+ release to build this project.

Driving the 2026 REV ION FRC Starter Bot

All controls for the Starter Bot are located in /src/main/java/frc/robot/RobotContainer.java and can be configured with WPILib's Command Controller API. The project is configured for an Xbox controller by default, so other controllers may require some additional setup or changes.

The robot's starting/zero configuration is:

• intake in

Default Controls

Button	Function
Left stick	Drive/strafe drivetrain
Right stick	Rotate drivetrain
Start button	Zero swerve heading
Left stick button	Set swerve wheels to an X
Y button	Run shooter and feeder
Right trigger	Run fuel intake
Left trigger	Reverse fuel intake

Other features

CAN IDs

The CAN IDs for the Starter Bot motor controller are defined in /src/main/java/frc/robot/Constants.java.

The default IDs are:

Subsystem	Function	Type	CAN ID
Intake	Intake Motor	SPARK Flex	2
	Conveyor Motor	SPARK Flex	4
Shooter	Feeder Motor	SPARK Flex	5
	Flywheel Motor (Leader on the Right)	SPARK Flex	6
	Flywheel Motor (Follower on the Left)	SPARK Flex	7
Drive	Front Left Driving Motor	SPARK MAX	15
	Front Right Driving Motor	SPARK MAX	11
	Rear Right Driving Motor	SPARK MAX	9
	Rear Left Driving Motor	SPARK MAX	13
	Front Left Turning Motor	SPARK MAX	14
	Front Right Turning Motor	SPARK MAX	10
	Rear Right Turning Motor	SPARK MAX	8
	Rear Left Turning Motor	SPARK MAX	12

Configuration

All configuration objects are instantiated in /src/main/java/frc/robot/Configs.java and called by each subsystem

MAXMotion

The Shooter Flywheel implements MAXMotion Velocity Mode

Simulation

Check out the REVLib simulation docs for more information on setting up and running a simulation. Select NetworkTables > SmartDashboard to open the Mechanism2d windows in the Simulation GUI. These displays will also update with a robot connected, so play around with them and add them to your dashboard! They can be configured in /src/main/java/frc/robot/Constants.java.

Debugging

Individual mechanisms can also be controlled via SmartDashboard:

• File -> Open -> 2026-Starter-Bot-SmartDashboard.xml (in the root of this repo)

• The Upper left corner shows the currently running subsystems

• The Intake and Shooter subsystems contain Commands and status

  • In a subsystem, only a single command may run at a time

  • Pressing the Start button starts the Command and is replaced by a Cancel button, which stops the command

IntakeSubsystem

• Intake : Runs the Intake and Conveyor into the robot

• Extake : Runs the Intake and Conveyor out of the robot

ShooterSubsystem

• Flywheel : spins the flywheel up to its target velocity

• Feeder : feeds the balls to the flywheel and keeps the flywheel spinning