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Robot Configuration

Edit custom/src/robot-config.cpp and custom/include/robot-config.h to match your robot's hardware.

  • Set the correct ports for motors, sensors, and other robot devices
  • Group drive motors into the left_chassis and right_chassis motor groups
  • Reverse drive motors as needed so driveChassis(12, 12) drives forward
  • X-drive, mecanum or H-drive? See Drive Types

Tracking wheels

RW works with no tracking wheels, a vertical one, a horizontal one, or both. Without them it falls back to the drive encoders and the IMU.

If you use a horizontal and/or vertical tracking wheel:

  • Set using_horizontal_tracker = true and/or using_vertical_tracker = true
  • Configure the tracker distances and diameters

Distance sensors

For distance resets or MCL:

  • Configure your ports on the prebuilt sensor declarations. Don't change their names
  • Set each sensor's offsets in inches: where the sensor's face is relative to the robot's center (X: + is right, Y: + is forward)
  • Use field-centered coordinates: the origin is the field center and the walls are at ±70.25". Start each auton with setPose(x, y, heading) at the robot's real field position

Override (2026-27)

Rule R11 caps drivetrain motors at 55W total, and drive encoder readings come from the first motor in each motor_group. In a mixed 11W/5.5W drive, list an 11W motor first.

Next: Tuning Your Robot.