{"id":15149222,"url":"https://github.com/steelridgerobotics/2024waffles","last_synced_at":"2026-03-11T03:31:00.498Z","repository":{"id":216528813,"uuid":"741270213","full_name":"SteelRidgeRobotics/2024Waffles","owner":"SteelRidgeRobotics","description":"Our team's 2nd iteration of swerve drive made for the 2024 season, Crescendo","archived":false,"fork":false,"pushed_at":"2024-10-29T07:55:02.000Z","size":432,"stargazers_count":2,"open_issues_count":0,"forks_count":2,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-10-29T22:46:19.400Z","etag":null,"topics":["2024-crescendo","crescendo","frc","frc-crescendo","frc-robot","path-planner","python","python-3","python3","robotpy","swerve-drive","wpilib"],"latest_commit_sha":null,"homepage":"https://www.steelridge6343.com/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/SteelRidgeRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-01-10T03:34:53.000Z","updated_at":"2024-10-29T07:55:06.000Z","dependencies_parsed_at":"2024-07-26T07:27:22.376Z","dependency_job_id":"03533ef4-4fa9-47d2-ab97-bb8d0f215c77","html_url":"https://github.com/SteelRidgeRobotics/2024Waffles","commit_stats":{"total_commits":214,"total_committers":4,"mean_commits":53.5,"dds":0.07476635514018692,"last_synced_commit":"d58406b658fe0f027ca7d4b69e352d5ed4461f5c"},"previous_names":["steelridgerobotics/2024evillarry","steelridgerobotics/2024waffle","steelridgerobotics/2024waffles"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/SteelRidgeRobotics/2024Waffles","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SteelRidgeRobotics%2F2024Waffles","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SteelRidgeRobotics%2F2024Waffles/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SteelRidgeRobotics%2F2024Waffles/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SteelRidgeRobotics%2F2024Waffles/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/SteelRidgeRobotics","download_url":"https://codeload.github.com/SteelRidgeRobotics/2024Waffles/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/SteelRidgeRobotics%2F2024Waffles/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260851046,"owners_count":23072547,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["2024-crescendo","crescendo","frc","frc-crescendo","frc-robot","path-planner","python","python-3","python3","robotpy","swerve-drive","wpilib"],"created_at":"2024-09-26T13:43:05.545Z","updated_at":"2026-03-11T03:31:00.468Z","avatar_url":"https://github.com/SteelRidgeRobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Waffles\nWaffles is Steel Ridge Robotics' (FRC 6343) official swerve drive codebase, which began development in late 2022.\n\n## What is swerve drive?\nSwerve drive is an omnidirectional drive train where all wheels are independently steered and driven.\nThis gives us unique advantages over other drive trains:\n\n- Strafing, driving left to right, is possible and more efficient than mechanum drive trains.\n- More speed conserved when turning, since the robot has no need to rotate.\n- More traction with the ground than a mechanum drive train. (Can't be pushed around as easily)\n- Flexing on other teams.\n\n# Software Overview\nWaffles contains the following:\n- Fused CANcoders for precise steering\n- Continuous wrap for optimized steering\n- Motion profiling combined with [field-orientated control](https://en.m.wikipedia.org/wiki/Vector_control_(motor)) to reduce skidding and improve handling.\n- Ability to switch between robot-centric and field-relative modes.\n- Skidding and collision detection, to compensate for errors in autonomous driving.\n- Advanced joystick mapping to ensure maximum speed.\n- PathPlanner support (includes Choreo configuration)\n- NavX simulation\n- Full simulation support for all modes\n- Auto Trajectories Visualized in Shuffleboard\n- Shuffleboard and Elastic Support\n\n# Technical Overview\nOur swerve drive is comprised of the following:\n- 4 swerve modules in each corner of the base frame\n  - 2 motors in each modules (8 motors total)\n    - 1 for steering the wheel (the \"steer motor\")\n    - 1 for driving/spinning the wheel (the \"drive motor\")\n\nWe use [Falcon 500](https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/)s for each motor, \nas well as 1 [CANcoder](https://store.ctr-electronics.com/cancoder/) for each module.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsteelridgerobotics%2F2024waffles","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsteelridgerobotics%2F2024waffles","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsteelridgerobotics%2F2024waffles/lists"}