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Flatbot 2026 - Python/RobotPy

FRC Team 4973's robot code in Python using RobotPy.

Robot Controls

Control Action
A button (hold) Spin motor at current speed
A button (release) Stop motor
D-pad up Increase speed by 0.05
D-pad down Decrease speed by 0.05

Starting speed: 0.1

Setup

Option 1: uv (Recommended)

uv manages Python and dependencies automatically - no global installs needed.

# Install uv (one time)
curl -LsSf https://astral.sh/uv/install.sh | sh

# Run simulation (uv installs dependencies automatically)
uv run python -m robotpy sim

Option 2: pip

If you prefer using system Python directly:

# Install dependencies
pip install robotpy[commands2,sim] phoenix6

# Run simulation
python3 -m robotpy sim

Option 3: Docker

For consistent environments across team members.

# Build (first time only)
docker compose build

# Run simulation
docker compose run --rm robotpy sim

Running Simulation

  1. Run: uv run python -m robotpy sim (or python3 -m robotpy sim if using pip)
  2. The simulation GUI opens
  3. In the GUI:
    • Go to Joysticks panel
    • Map a virtual joystick to port 0
    • Enable Teleop mode
  4. Test the controls:
    • Press A button → motor output appears
    • Use D-pad up/down → check console for speed changes

Deploying to Robot

When connected to the robot (via WiFi or USB):

# Using uv:
uv run python -m robotpy sync    # First time: sync dependencies to roboRIO
uv run python -m robotpy deploy  # Deploy code

# Or using pip:
python3 -m robotpy sync
python3 -m robotpy deploy

Then in Driver Station:

  1. Connect to robot
  2. Enable Teleop
  3. Test controls

Project Structure

flatbot2026-python/
├── robot.py            # Main entry point & Robot class
├── robot_container.py  # Hardware setup & button bindings
├── pyproject.toml      # RobotPy config & dependencies
├── Dockerfile          # Dev environment
├── docker-compose.yml  # Easy Docker usage
└── README.md           # This file

Troubleshooting

Simulation won't start:

  • If using uv: try uv sync --refresh to reinstall dependencies
  • If using pip: reinstall with pip install --force-reinstall robotpy[commands2,sim] phoenix6
  • Check Python version: python3 --version (need 3.12+)

Motor not responding in simulation:

  • Check the Joysticks panel - make sure a joystick is mapped to port 0
  • Make sure Teleop is enabled (not Disabled or Autonomous)

Deploy fails:

  • Make sure you're connected to the robot network
  • Run sync first: uv run python -m robotpy sync (or python3 -m robotpy sync)