AlphaBit - OpenML

Resources - Decode File Map and References

Reference Index

This page is your navigation map for the Decode documentation. It points to the exact files you should read while implementing each feature.

Regional Code

Main folder to follow:

robot_code/regional/AlphaBit_Decode_2026

TeleOp entry: drive/OpModes/TeleOp_Decode.java

Autonomous entry: drive/Autonomous/AutonomousControl.java

Main subsystem logic: drive/Structure/ArtifactControl.java

National Code

Use this as a secondary reference for Pedro Pathing setup:

robot_code/national/AlphaBit-Decode-2026/TeamCode/src/main/java/.../pedroPathing/Constants.java

robot_code/national/AlphaBit-Decode-2026/TeamCode/src/main/java/.../pedroPathing/Tuning.java

Vision Files

AprilTag + camera config: drive/ComputerVision/AprilTagIdentification.java

Optional additional vision logic: drive/ComputerVision/AIVision.java

Vision bridge utility classes: camera stream/server classes in the same folder.

Localization Files

Road Runner two-wheel localizer: RoadRunner/drive/opmode/TwoWheelTrackingLocalizer.java

Drive and follower baseline: RoadRunner/drive/SampleMecanumDrive.java

IMU wrapper: drive/Skeletal_Structures/GyroscopeBHIMU.java

Quick Search

Helpful commands while coding:

rg -n "getPatternId|getRobotPose|setCameraPose" robot_code/regional/AlphaBit_Decode_2026
rg -n "trajectorySequenceBuilder|addTemporalMarker" robot_code/regional/AlphaBit_Decode_2026
rg -n "GyroscopeBHIMU|TwoWheelTrackingLocalizer|setPose" robot_code/regional/AlphaBit_Decode_2026

External Docs

learnroadrunner.com for structure and trajectory/localization learning flow.

FTC SDK docs for VisionPortal + AprilTag behavior.

goBILDA odometry hardware docs for pod installation and maintenance.

Pre-Event Audit

Re-check hardware map names and motor directions.

Re-check odometry multipliers and IMU orientation after mechanical changes.

Re-run AprilTag detection and autonomous dry-run before every event day.

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