DECODE 2025-2026 FTC Game

DECODE presented by RTX is the 2025-2026 FIRST Tech Challenge game where teams collect, classify, and score artifacts to unlock patterns and motifs.

Quick Start

Element	Description
Artifacts	Ball-shaped game pieces (Purple and Green)
Control Limit	Maximum 3 artifacts at a time
Cycle	Collect → Classify/Score → Repeat
Field	144" × 144" (12ft × 12ft)

Match Structure

Period	Duration	Notes
Autonomous	30 seconds	Pre-programmed robot actions
Driver-Controlled	2 minutes	Manual control with gamepad
End Game	Last 30 seconds	Bonus scoring opportunities

Field Layout (Pedro Coordinates)

        Y = 144" (back wall)
    ┌────────────────────────────────────┐
    │                                    │
    │     [GOALS]      [GOALS]           │
    │                                    │
    │  ┌─────────┐                       │
    │  │CLASSIFIER                       │
    │  └─────────┘                       │
    │                                    │
    │        [ARTIFACTS]                 │
    │                                    │
    │  ┌──────┐              ┌──────┐    │
    │  │ RED  │              │ BLUE │    │
    │  │START │              │START │    │
    │  └──────┘              └──────┘    │
    └────────────────────────────────────┘
        Y = 0" (audience wall)

    X = 0"                          X = 144"

Key Positions (Pedro Coordinates)

See FIELD_POSITIONS.md for complete coordinates.

Location	X (in)	Y (in)	Heading (°)
Red Start	7	7	0
Blue Start	137	7	180
Classifier	24	72	90

Robot Mechanisms

Based on game strategy:

Intake - Collect artifacts from field
Indexer - Hold up to 3 artifacts, feed to shooter
Shooter - Flywheel + turret + hood for launching
Vision - Limelight 3A for target tracking

Coordinate Conversion Scripts

Use python to execute conversion scripts (no external dependencies required):

# FTC (meters) to Pedro (inches)
python scripts/convert.py ftc-to-pedro 0 0 90

# Tile coordinates to Pedro
python scripts/convert.py tile-to-pedro 3 3
python scripts/convert.py tile-center 2 4

# Mirror red alliance pose for blue
python scripts/convert.py mirror-blue 7 6.75 0

# Show all coordinate systems for a point
python scripts/convert.py all 72 72

Reference Documentation

SCORING.md - Point values and strategies
FIELD_POSITIONS.md - All positions in Pedro coordinates
COORDINATES.md - Coordinate system details
STRATEGY.md - Autonomous and teleop strategies

Anti-Patterns

Don't: Hard-code field positions

// BAD - Magic numbers scattered throughout code
val scorePose = Pose(24.0, 48.0, Math.toRadians(90.0))

// GOOD - Centralized constants with clear names
object FieldPositions {
    val SCORE_HIGH_LEFT = Pose(24.0, 48.0, Math.toRadians(90.0))
}
val scorePose = FieldPositions.SCORE_HIGH_LEFT

Don't: Ignore artifact control limits

// BAD - No tracking of artifact count
fun collectArtifact() {
    intake.run()  // May exceed 3-artifact limit
}

// GOOD - Enforce the limit in code
fun collectArtifact() {
    if (artifactCount < 3) {
        intake.run()
        artifactCount++
    }
}

Don't: Mix coordinate systems

// BAD - Mixing FTC (meters, center origin) with Pedro (inches, corner origin)
val pose = Pose(ftcX, pedroY, heading)  // Inconsistent units!

// GOOD - Always convert to one system
val pedroPose = CoordinateConversion.ftcToPedro(ftcX, ftcY, heading)

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