MARSLib Framework
A zero-allocation, physics-simulated FRC framework with deterministic AdvantageKit logging, 250Hz odometry, and shot-on-the-move kinematics.
Documentation Hub
Explore the framework conceptually or dig right into tutorials.
🚀 Zero to MARS
Start here! Configure Vendordeps, construct your first RobotContainer, and scaffold a generic subsystem with MARSLib bindings.
🏗️ Core Architecture
Learn the IO Layer AdvantageKit abstraction pattern, thread-safe fault management, and strict zero-allocation loop rules.
🦾 Mechanism Abstraction
Implement RotaryMechanismIO and LinearMechanismIO to dramatically speed up standard mechanism development.
🎮 Control Theory
Dive into Shoot-on-the-Move (SOTM) math, EliteShooterMath, Feedforwards, and WPILib SysId tuning integration.
🖥️ Simulation & Telemetry
Configure Dyn4j 2D physics integration, AdvantageScope 3D field layouts, and automated GitHub log offloading.
🤖 AI Agents & Skills
Integrate .agent Markdown skills into your IDE to autonomously scaffold subsystems, fix WPILib PID errors, and write unit tests.