Programming Snippets (FIRST AGE 2026)

Keep snippets small, tested, and documented. Each entry should include: what it solves, code, parameters to tune, how to test, and pitfalls.

Disclaimer: These snippets are WIP and untested in 2026 hardware; treat them as starting points and validate on-robot. They are custom patterns built on WPILib APIs (not official WPILib sample code).

Snippet menu

• Hub Shift Timer
• Indexer: Hoard/Burst
• Climb Command
• Auto Chooser
• Brownout Guard
• Telemetry Publisher
• AprilTag Pose + Aim Assist
• FMS Hub State Reader
• Intake + Shooter Control
• Path/Auto Template
• Driver Feedback Cues
• Command Timeout Helper
• Current Limits and Ramps
• Vision/Odometry Fusion
• DriveSubsystem Skeleton
• Gyro + Field Orientation Helper
• Logger Hook
• Motor Safety Wrapper
• LED Status
• Odometry Helper (No Vision)
• Shooter Interpolation Table
• Safe Shot Sequencer
• Hopper Capacity Detector
• Shift-Aware Path Switch
• Climb Interlock + Precheck
• Stow/Deploy Coordination
• Auto Taxi + Stash
• LED Enriched Status

Add more as we harden code; keep language consistent with robot codebase (WPILib Java assumed here).