MARSLib Framework

A zero-allocation, physics-simulated FRC framework with deterministic AdvantageKit logging, 250Hz odometry, and shot-on-the-move kinematics.

Built on the FIRST® Core Values

Driven by MARSLib Values

FIRST HALL OF FAME INDUCTEE

Championship Chairman's Award Winner — recognized for transforming the culture of STEM in West Virginia.

Explore the framework conceptually or dig right into tutorials.

Start here! Configure Vendordeps, construct your first RobotContainer, and scaffold subsystems automatically with our VS Code extension.

Learn the IO Layer AdvantageKit abstraction pattern, thread-safe fault management, and strict zero-allocation loop rules.

Implement RotaryMechanismIO and LinearMechanismIO to dramatically speed up standard mechanism development.

Dive into Shoot-on-the-Move (SOTM) math, EliteShooterMath, Feedforwards, and WPILib SysId tuning integration.

Configure Dyn4j 2D physics integration, AdvantageScope 3D field layouts, and automated GitHub log offloading.

Install the MARSLib VS Code extension to access .agent skills, automate subsystem scaffolding, and run championship-grade logic audits.

Automated system identification for calculating perfect feedforward constants passively during real matches.

Discover the military-grade two-layer fault system, real-time driver alerts, and structural hardware fallbacks.

Is the CAN bus dropping out? Robot not driving? Compilation errors? Follow our mechanical issue triage wizards.

Read our commitment to inclusive engineering. Learn how we use AI agents and Pa11y to enforce WCAG 2.1 AA DOM parity.