Bird-brained swerve drive utility.

Looking to contribute to or use Quail? You may find value in joining the Discord server: https://discord.gg/ABznnnBB

To use Quail, you need a few things. The first is swerve modules. More than one. I don't care where your swerve modules are. They could be 52 miles apart (i.e. this) and in the shape of a pentagon and Quail would still work.

The second thing you need is a little knowledge of Java. You should be able to:

• use a PID controller
• use subclasses
• read an encoder
• make your motors spin (to an angle if using coaxial swerve)

If you want to get started quickly, there are docs here A javadoc can be found here

I wish I knew Kotlin so I could make it purple. 💜

Currently, Quail is stable. Not quite sure about the documentation--it seems to be a bit tempermental.

Quail is designed for use and tested in FRC and FTC, but it should work in any java program.

Working:

• Swerve reverse kinematics (robot can drive)
• Swerve odometry (robot can know where it is)
  • Includes heading odometry (can run field oriented without gyroscope and/or provide corrections to gyroscope via Kálmán filter)
• 2-deadwheel odometry (robot can know where it is (requires additional hardware & gyro))
• Autonomous navigation and pathing
• Kálmán filter for use with vision

Not quite working

• Path sequences