2027beta

FRC Team 8852's 2027 SystemCore swerve drive base. It uses WPILib 2027 alpha, Java 25, and Commands v3.

Read these before changing code:

• CONTEXT.md defines the project's special terms.
• docs/adr/ records architecture decisions.
• docs/commands-v3-house-style.md teaches this project's command style.
• docs/research/ contains the measurements and source notes behind the ADRs.

Start here

1. Install JDK 25 and the WPILib 2027 VSCode extension.
2. Clone the repository and open it in VSCode.
3. Run ./gradlew run to start the simulation.
4. Run ./gradlew test to run tests without hardware.
5. Run ./gradlew sysidLog when working on SysId. Its log describes the simulation, not the real robot.
6. Install uv only when working on tools/logtool, which is not built yet.

The project currently uses a local allwpilib checkout. See ADR 0003 and docs/research/systemcore-deploy.md.

Working safely

• Never push directly to main. Use a branch and pull request.
• An agent may build, test, simulate, and deploy. A person must enable a real robot.
• No agent may commit to main.

The required CI workflow protects main, including for administrators. During competition, use a deliberate per-event branch if needed. See ADR 0013.

AI access

Team-plan seats are for the mentor and students who are at least 18. Everyone else uses the reviewer. Anthropic requires users to be at least 18; team plans, school use, and mentor supervision do not change that. Details and sources are in issue #24.

The reviewer is a Claude Code session with a different opening prompt, reading CLAUDE.md and the ADRs like any other session. It runs once a pull request's CI run is green, and comments only on the field-only risks CI cannot detect. It is not a replacement for student review. See ADR 0013 and issue #18.

Each run waits for a person. Its API key lives in the pr-review GitHub Environment, and the job pauses on the run's page under Actions until the map owner approves it — nothing is posted, and no key is injected, before that.

.claude/settings.json is checked in. It is a permission allowlist, so an agent runs ./gradlew, read-only git, read-only gh issue, ssh systemcore@... and uv run without asking. Claude Code ignores it until you accept the trust dialog once, on the first run in a fresh clone. Your own approvals go in .claude/settings.local.json, which is not checked in.

Deploying

Use the VSCode deploy button or ./gradlew deploy. Deployment stops robot.service, copies the robot files, and starts the service again.

Watch the robot journal with:

ssh systemcore@robot.local journalctl -u robot -f

Do not use println in periodic code. It can exceed the loop budget.

If the robot restarts every three seconds, the SystemCore image and allwpilib checkout are incompatible. Update the Pi to the current image. See issue #51.

Local references

• ~/dev/allwpilib is the WPILib source reference. Check it before using online examples: 2027 APIs changed substantially.
• The bench Pi is at 192.168.1.202 or robot.local. It has no CAN hardware, so hardware CI is advisory only.
• The system journal is the console. WPILOG files are stored in /u/logs with a USB stick or /home/systemcore/logs otherwise. Copy logs before the robot deletes old files.
• The SystemCore image uses BusyBox. It does not include timeout, pgrep, compilers, perf, or unzip. Use jcmd -l instead of pgrep; use JFR for profiling.