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MARSLib Documentation

Elite Architecture Mining

Every year, Chief Delphi lights up with the source code drops from World Champions like Team 1690, 254, 6328, and 2910. Every year, hundreds of teams attempt to copy-paste their advanced time-of-flight models or trajectory solvers. And every year, their robots break due to architectural bloat and corrupted state variables.

In MARSLib, we do not copy-paste. We perform structurally rigid Architecture Mining governed by our AI Agentic Skills framework.

1. The Abstraction Integrity Rule

In 2024, Team 1690 released an incredible time-of-flight interpolation engine for shooting on the move. However, their repository was monolithic—a beautiful mess of interwoven singletons.

When mining this logic, you must strictly strip the target repository of its architecture and salvage only the raw mathematics. If the original code calls a motor controller directly inside the math solver, you must replace it with a decoupled MARSMechanismTarget payload.

2. Telemetry Rewiring

Elite teams often use complex Dashboard configurations or raw SmartDashboard calls. When bringing this logic into MARSLib, all telemetry calls must be gutted and replaced explicitly with AdvantageKit Logger.recordOutput(…) arrays, preserving determinism.

3. Mathematical Normalization

Team 254 uses custom Twist2d math. Team 2910 uses ChassisSpeeds. When ingesting kinematics, you must normalize the source mathematics into MARSLib’s expected physical units utilizing standard WPILib geometry structs (e.g. Translation2d in Meters, not Inches; Radians, not Degrees). No raw sensor ticks are allowed past the IO layer interface.



📖 Further Reading & External Resources