THE MARSLIB STANDARD

The definitive software engineering ruleset governing our World-Champion grade infrastructure. Code that violates these rules is rejected.

Nullify Hungarian Notation

Using m_ prefixes to dictate member variables is an archaic C++ practice that poisons Java IDE autocompletion and drastically reduces readability. MARSLib strictly bans Hungarian notation. We rely on modern syntax highlighting and the this. keyword for variable scope.

VIOLATION

private final SwerveDrive m_swerve;
private double m_speed;

public void setSpeed(double speed) {
    m_speed = speed;
}

MARS STANDARD

private final SwerveDrive swerve;
private double targetVelocity;

public void setVelocity(double targetVelocity) {
    this.targetVelocity = targetVelocity;
}

The “Never Nester” Protocol

Code that is deeply nested across multiple if/else and for blocks is fragile and requires immense cognitive load to debug under competition pressure. All FRC control loops must remain completely “flat”. Utilize guard clauses and early return expressions immediately.

VIOLATION

public void shoot() {
    if (systemReady) {
        if (targetLocked) {
            if (flywheelAtSpeed) {
                feeder.run();
            }
        }
    }
}

MARS STANDARD

public void shoot() {
    if (!systemReady) return;
    if (!targetLocked) return;
    if (!flywheelAtSpeed) return;

    feeder.run();
}

Explicit Unit Nomenclature

A double named speed has destroyed billions of dollars in real-world aerospace missions. Passing raw sensor ticks or ambiguous integers into high-level functions is banned. Variables must describe precisely what they represent.

VIOLATION

// What is 'tolerance'? Degrees? Radians?
// What is 'speed'? RPM? M/s? Volts?
public void setAngle(double angle, double tolerance) { ... }
public void runIntake(double speed) { ... }

MARS STANDARD

// Mathematically explicit parameters
public void setAngle(double radians, double toleranceRads) { ... }
public void runIntake(double voltageOut) { ... }

Zero-Allocation Architecture

Hot-paths (the 20ms and 4ms loops) must never use the new keyword to avoid JVM GC stalls. You must use globally instantiated Ephemeral Structs to proxy hardware parameters mathematically.

Mathematical Mutation

Do not pass structural pointers to objects that must preserve historic state (e.g. PID integrators). Always use .clone() if a downstream pipeline requires an immutable snapshot of an Ephemeral Struct.

Agentic Comments and Autonomy

MARSLib is the first FRC framework expressly co-developed with Artificial Intelligence. To instruct Claude Code or Z.ai agents efficiently, developers must leave explicitly structured block comments prefixing the exact file or mathematical function requiring augmentation.

Code that is actively governed by an AI skill (such as Swerve Kinematics or Log Replay) must carry the @AGENT_ENFORCED JavaDoc tag to prevent human developers from breaking structured logic patterns.