Core Architecture

MARSLib is designed with a strict zero-allocation abstraction layer. The framework shields deterministic physics processing and automated logging from the hardware implementations to guarantee consistency across physical and simulated robots.

Architecture Diagram

graph TD
    Z["User Project<br><i>RobotContainer.java</i>"] -->|Depends On| A("MARSLib Framework<br><i>Vendor Dependency</i>")
    A --> C[Swerve Subsystem]
    A --> D[Mechanisms]
    A --> E[System Utilities]
    C <--> F{"IO Abstraction Layer"}
    D <--> F
    E <--> F
    F <-->|Hardware Mode| G["IOReal<br><i>TalonFX, Pigeon2</i>"]
    F <-->|Simulation Mode| H["IOSim<br><i>Dyn4j Physics</i>"]
    G --> I[("(AdvantageKit Log)")]
    H --> I
    style Z fill:#0a0a0a,stroke:#2a2a2a,stroke-width:2px,color:#e8e8e8
    style A fill:#141414,stroke:#B32416,stroke-width:2px,color:#e8e8e8
    style C fill:#1a1a1a,stroke:#2a2a2a,stroke-width:1px,color:#e8e8e8
    style D fill:#1a1a1a,stroke:#2a2a2a,stroke-width:1px,color:#e8e8e8
    style E fill:#1a1a1a,stroke:#2a2a2a,stroke-width:1px,color:#e8e8e8
    style F fill:#B32416,stroke:#d42e1e,stroke-width:2px,color:#fff
    style G fill:#2a2a2a,stroke:#1a1a1a,stroke-width:1px,color:#29b6f6
    style H fill:#2a2a2a,stroke:#1a1a1a,stroke-width:1px,color:#9c7bcc
    style I fill:#0a0a0a,stroke:#6ba3d6,stroke-width:2px,color:#6ba3d6

Package Reference

Core framework packages and their responsibilities.

Package	Description	Key Classes
`com.marslib.swerve`	250Hz odometry, swerve kinematics, traction control	`SwerveDrive`, `SwerveModule`, `PhoenixOdometryThread`
`com.marslib.vision`	AprilTag localization with MegaTag 2.0 fusion	`MARSVision`, `VisionIO`
`com.marslib.mechanisms`	Generic IO abstractions	`RotaryMechanismIO`, `LinearMechanismIO`
`com.marslib.faults`	Thread-safe fault reporting	`MARSFaultManager`, `Alert`
`com.marslib.simulation`	Dyn4j physics world, game piece spawning	`MARSPhysicsWorld`, `GamePieceBody`
`com.marslib.power`	Voltage load-shedding and stator monitoring	`MARSPowerManager`
`com.marslib.util`	State machines, tunable numbers, shot math	`MARSStateMachine`, `EliteShooterMath`
`com.marslib.auto`	PathPlanner integration, alignment commands	`MARSAutoBuilder`
`frc.robot`	Competition logic: RobotContainer, commands	`RobotContainer`, `MARSSuperstructure`

?? Further Reading & External Resources

Limelight MegaTag 2.0 Breakdown - Understanding how FRC 1690 style IMU yaw-seeding rejects rapid AprilTag noise variations.
PhotonVision Hardware Guide - Best practices for illuminating targets globally.