Project Structure

src/main/cpp/: The main C++ code for the robot.
src/main/include/: The header files for the main C++ code.
src/main/deploy/: Files that will get deployed to the roborio, namely containing pathplanner paths.
src/test/cpp/: The test code for the robot.
gradle/: The gradle wrapper and other gradle files.
vendordeps/: Vendor dependencies, such as the WPIlib (should be added using the vscode manage vendor libraries command).
build.gradle: The gradle build file. This is the file that tells Gradle how to build the robot code.
settings.gradle: The gradle settings file. This file tells Gradle what to build.
gradlew: The gradle wrapper. This script will download Gradle, so you don't have to install it yourself.
gradlew.bat: The gradle wrapper for windows. This script will download Gradle, so you don't have to install it yourself.

Subsystem Structure

/src/main/include/Constants.h: The constants file. This file contains all of the robot's constants, such as motor ports, solenoid ports, and other constants.
/src/main/include/Robot.h and /src/main/cpp/Robot.cpp: The robot class. This class contains the robot's subsystems and the robot's periodic functions.
/src/main/include/RobotContainer.h and /src/main/cpp/RobotContainer.cpp: The robot container class. This class contains the robot's subsystems and the robot's commands.
/src/main/include/subsystems/SwerveModule.h and /src/main/cpp/subsystems/SwerveModule.cpp: The swerve module class. This gives a higher-level interface to getting and setting the swerve modules' positions and angles.
/src/main/include/subsystems/Drivetrain.h and /src/main/cpp/subsystems/Drivetrain.cpp: The drivetrain class. This class contains the robot's drivetrain and the robot's swerve modules, as well as the robot's odometry.
/src/main/include/subsystems/Grabber.h and /src/main/cpp/subsystems/Grabber.cpp: The grabber class. This class contains the robot's grabber and the robot's grabber motor.
/src/main/include/subsystems/Arm.h and /src/main/cpp/subsystems/Arm.cpp: The arm class contains the robot's arm and arm motor.
/src/main/include/subsystems/Orin.h and /src/main/cpp/subsystems/Orin.cpp: The Orin class. It interfaces with the Orin Nano coprocessor to get the robot's position and orientation and object detection data.