This repository contains the C++ robot source code for FRC Team 120 from the 2021 season onward. It contains the sources for both the roboRIO program and a peripheral RIOduino board.

• Robot control derived from the TimedRobot class.
• An autonomous framework for configurable routines and sensor control.
• Configurable support for different drive styles, including swerve and differential.
• Configurable support for various driver station input controller types.
• A motor group class for managing multiple motor controllers at once.
• A camera class dedicated to handling vision related operations.
• An I2C class for handling communication with the RIOduino.

The main branch contains code and features that are largely compatible with most robots. Customization for each year's particular robot is handled by delivering content to a yta/main/<year> branch. Reusable features developed during a particular season will be merged back to the mainline periodically.