← Thomas Yu

Catalyst

The whole-robot library for FRC. Mechanisms, swerve, a state machine for the entire robot, physics, autonomy and telemetry, configured through builders instead of rewritten every season.

Stable: 1.12.0 · roboRIO, WPILib 2026
Next: 2.0.0-rc.1 · Systemcore, WPILib 2027
Built on: CTRE Phoenix 6, Java
Source: github.com/TomAs-1226/FrcCatalyst

Documentation Which version do I need? Releases Downloads

Why

A mechanism is a description

Every FRC season a team rewrites the same elevator, arm and shooter: motor setup, feedforward, soft limits, simulation, logging. Catalyst turns that into a description of the mechanism. You say what it is; the library does the rest the same way every time.

// Catalyst 2.0: a two-motor elevator with named positions
LinearMechanism elevator = new LinearMechanism(
    LinearMechanism.Config.builder()
        .name("Elevator").motor(13).follower(14, true)
        .motorType(MotorType.KRAKEN_X60)
        .gearRatio(10.0).drumRadius(0.0254)
        .range(0.0, 1.2).mass(5.0)
        .pid(50, 0, 0.5).gravityGain(0.35)
        .motionMagic(2.0, 4.0, 20.0)
        .position("STOW", 0.0).position("HIGH", 1.1)
        .build());

new Trigger(operator::getYButton).onTrue(elevator.goTo("HIGH"));

That elevator comes with Motion Magic, gravity feedforward, a physics simulation, SysId, live tuning and telemetry under /Catalyst/Elevator/, without another line.

Versions

Two computers, one library

FIRST is moving from the roboRIO to Systemcore. Catalyst follows both: 1.x for the robots that compete now, 2.0 for the new controller and WPILib 2027.

Line	Latest	Runs on	Install	Use it for
1.x	`1.12.0` Aug 7, 2026	roboRIO · WPILib 2026 · Java 17	JitPack, or the stable vendordep	Competition robots
2.0	`2.0.0-rc.1` Oct 16, 2026	Systemcore image 14 · WPILib 2027 alpha-7 · Java 25 · Phoenix 26.70	JitPack, or the beta vendordep	The new controller
2.0 alpha-6	`2.0.0-rc.4-a6` Oct 1, 2026	Systemcore image 13 · WPILib 2027 alpha-6	Source build only	The first Systemcore image