{"id":20536482,"url":"https://github.com/stuypulse/swiveldrive","last_synced_at":"2025-06-28T07:35:56.198Z","repository":{"id":139220888,"uuid":"529735167","full_name":"StuyPulse/SwivelDrive","owner":"StuyPulse","description":"Swerve drive programmed with new kinematics","archived":false,"fork":false,"pushed_at":"2022-08-31T18:40:20.000Z","size":77,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-06T03:35:22.701Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Java","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/StuyPulse.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":"2022-08-28T01:32:29.000Z","updated_at":"2022-08-28T20:52:15.000Z","dependencies_parsed_at":null,"dependency_job_id":"016c7cb4-4753-4066-b084-fd9d06cc7814","html_url":"https://github.com/StuyPulse/SwivelDrive","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":"StuyPulse/Phil","purl":"pkg:github/StuyPulse/SwivelDrive","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/StuyPulse%2FSwivelDrive","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/StuyPulse%2FSwivelDrive/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/StuyPulse%2FSwivelDrive/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/StuyPulse%2FSwivelDrive/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/StuyPulse","download_url":"https://codeload.github.com/StuyPulse/SwivelDrive/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/StuyPulse%2FSwivelDrive/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":262393533,"owners_count":23304135,"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":[],"created_at":"2024-11-16T00:36:50.655Z","updated_at":"2025-06-28T07:35:56.170Z","avatar_url":"https://github.com/StuyPulse.png","language":"Java","funding_links":[],"categories":[],"sub_categories":[],"readme":"# SwivelDrive\n\nattempt at new kinematics for swerve that enable straight line spin maneuvers without corrections\n\n## Notes\n\nApproach: \n * use a `Pose2d` to represent the position of the swerve \n * use a `Translation2d[]` to represent the velocity vector of each module\n * calculate the position of a module by adding its offset, rotated by the pose heading, to the pose translation\n * calculate its position after the `ChassisSpeed` is applied to the module (e.g. apply the rotation and translation to the point)\n * calculate a velocity vector from initial module position and the calculated final position\n * calculate an acceleration vector from the provided velocity for that module and the calculated velocity vector\n * store calculated velocity vector and acceleration in a `SwivelModuleState`\n * return `SwivelModuleState[]`\n \nSimilar Alternative Approach:\n * calculate the final pose FIRST by applying a `Twist2d`, generated from a `ChassisSpeed * period`\n * calculate the modules relative to the start pose and relative to the final pose\n * calculate the velocity and acceleration vectors in the same way as above the initial and final module positions\n \nProblems:\n * this covers inverse kinematics? but how to go forward\n * what is the proper way to do odometry with this method?\n \nBetter method:\n * direct formula that covers acceleration\n * easier to do forward kinematics because algebra can be applied to the formula\n * [Notes_5_CurvilinearMotion.pdf](https://github.com/StuyPulse/SwivelDrive/files/9464070/Notes_5_CurvilinearMotion.pdf)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstuypulse%2Fswiveldrive","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstuypulse%2Fswiveldrive","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstuypulse%2Fswiveldrive/lists"}