This is the swerve code we will use as a foundation to build off of for our 2024-25 robot, which will be our first robot with a swerve drivetrain. We are using the SDS Mk4 Swerve Modules with REV Neos and Spark MAX Motor controllers. For encoders, we are using Thrifty absolute magnetic encoders and the built-in Spark Max relative encoders.
- Code Functions Properly(ish)
- Turning sensitive
- Have programming team analyze code to make sure all members fully understand everything and where we are starting from.
- Add comments explaining everything and how it all works.
- Work on more advanced stuff like kinematics / odometry for smoother driving.
- Work on autonomous using PathPlanner / PathWeaver.
- Test robot and field orientation after adding gyro.
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- 4534's 2023 Swerve Code - Thanks to our mentor team, the Wired Wizards, for helping us get our swerve drivetrain up and working, along with providing their swerve code.
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- 2495's Edited MAXSwerve Template - Used ThriftyEncoder class from this project, as we couldn't get the Thrifty absolute magnetic encoders working with base WPILIB libraries.
- 6624's Swerve Example - Although this code caused our drivetrain to behave strangely, 6624's swerve documentation gave us a good idea of how many of the concepts that swerve is based around worked.