The source code for the robot in the 2025-2026 season.
GoBilda 5202/3/4 series
- 0 - rightFront
- 1 - leftBack
- 2 - rightBack
- 3 - leftFront
GoBilda 5202/3/4 series
- 0 - shooter
- 1 - intake
- 2 - turret
- 3 - lift
All controls use Gamepad 1 (PS5 DualSense).
┌─────────────────────────────────────────────┐
│ PS5 DualSense │
│ │
│ ┌───┐ ┌───┐ │
│ │L1 │ Turret CW Turret │R1 │ │
│ │ │ CCW │ │ │
│ └───┘ └───┘ │
│ ┌───┐ ┌───┐ │
│ │L2 │ Shooter │R2 │ │
│ │ │ Spin-up │ │ │
│ └───┘ └───┘ │
│ │
│ ┌───┐ ╔═══╗ │
│ │ ↑ │ Raise ┌───╢ △ ║ │
│ ┌─┼───┼─┐ Loader │ ╚═══╝ │
│ │ ← → │ ┌───┐| ┌───┐ │
│ └─┼───┼─┘ │ ▢ ├─────┤ ○ │ │
│ │ ↓ │ Lower └───┘ └───┘ │
│ └───┘ Loader Intake ┌───┐ │
│ Forward │ ✕ │ │
│ ╔═══════╗ └───┘ │
│ ║ L Joy ║ Intake │
│ ║ ║ ╔═══════╗ Reverse │
│ ║ F/B ║ ║ R Joy ║ │
│ ║Strafe ║ ║ ║ │
│ ╚═══════╝ ║Rotate ║ │
│ ╚═══════╝ │
└─────────────────────────────────────────────┘
| Control | Action |
|---|---|
| Left Stick Y | Forward / Backward |
| Left Stick X | Strafe Left / Right |
| Right Stick X | Rotate |
| Cross (✕) | Intake Reverse |
| Square (▢) | Intake Forward |
| R2 Trigger | Shooter Spin-up (auto-raises loader at speed) |
| R1 Bumper | Rotate Turret CCW |
| L1 Bumper | Rotate Turret CW |
| D-pad Up | Raise Loader |
| D-pad Down | Lower Loader |
| Control | Action |
|---|---|
| Triangle (△) | Front Left motor |
| Circle (○) | Front Right motor |
| Square (▢) | Back Left motor |
| Cross (✕) | Back Right motor |
| L1 (hold) | Reverse direction |
| Control | Action |
|---|---|
| R2 Trigger | Shooter forward (0–50%) |
| L2 Trigger | Shooter reverse (0–50%) |
| Control | Action |
|---|---|
| D-pad Up | +500 RPM |
| D-pad Down | -500 RPM |
| D-pad Right | +100 RPM |
| D-pad Left | -100 RPM |
| Cross (✕) | Toggle motor on/off |
| Circle (○) | Emergency stop |
Build and/or deploy the robot code.
--clean- Clean build output, then build and/or deploy--build-only- Only build, don't deploy
Format all Java files in TeamCode/.
If ADB over WiFi stops working or can't connect to the Control Hub, reset the connection:
adb kill-server
adb start-server
adb connect 192.168.43.1:5555
./gradlew installDebug