Introduction

Welcome to the code dive for the 2025 season, Reefscape! This year on our robot, Stingray, we took a bunch of steps from last year, which came with many programming challenges!

Robot Breakdown

Here is a quick list on how our robot was structured this year:

• A continuous elevator to raise to score coral / algae
• A pivoting "Gooseneck" that holds coral in the bottom section and algae in the top section
• A funnel to recieve coral from coral stations
• A winch system climber for deep cage climbing
• CTRE-Based SDS Mk4i swerve drive
• 3 LL3's for Apriltag localization

With this quick breakdown in mind, lets dive into the code dive!

Haha... That one was pretty funny I can't lie. Get it? Dive, because Reefscape.. and all that, you know? Well.. anyways..