{"id":20018842,"url":"https://github.com/team334/swervebase","last_synced_at":"2025-05-04T23:31:25.780Z","repository":{"id":247121373,"uuid":"825059862","full_name":"Team334/SwerveBase","owner":"Team334","description":"A base project for future robots that has code for swerve drive and PhotonVision AprilTag 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SwerveBase\nA base project for future robots that has code for swerve drive and PhotonVision AprilTag processing.\n\n## Features\n- Abstract IO for modules / gyros allowing for easy switching between real life, sim, and non-existing.\n- Switching between NavX and Pigeon2.\n- Device logging and data logging using SignalLogger, URCL, and Monologue.\n- High frequency odometry thread for more accuracy.\n- Automated pre-match self-check.\n- Device configuration re-attempting.\n- Device fault logging as telemetry for at-home testing.\n- 254's Swerve Setpoint generator to prevent wheel slip.\n- SysID routines for module turn motors and translation drive motors.\n- A custom class for PhotonVision AprilTag processing featuring filtering methods and standard deviation calculation.\n- Single-tag gyro-based disambiguation is part of the tag filtering.\n- Wheel radius characterization (todo).\n- Torque-current to voltage feedforward control for auton using Pathplanner/Choreo (todo).\n- 2025 WPILib beta and other beta libraries (BIG todo)\n\n## Inspiration\n- [Team 1155 2024 Build Thread](https://www.chiefdelphi.com/t/frc-1155-the-sciborgs-2024-build-thread-open-alliance/441531)\n- [Team 1155 Swerve Base](https://github.com/SciBorgs/Hydrogen/)\n- [Team 3015 Code 2024](https://github.com/3015RangerRobotics/2024Public/tree/main/RobotCode2024/src/main/java/frc)\n- [Team 353 Code 2024](https://github.com/POBots-353/2024RobotCode/tree/main)\n- [CTRE Swerve API Odom Thread](https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/mechanisms/swerve/SwerveDrivetrain.OdometryThread.html)\n- Team 6328 [2023](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2023-build-thread/420691?page=2) and [2024](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2024-build-thread/442736) Build Threads (specifically interested in vision)\n- Team 6328 [2023](https://github.com/Mechanical-Advantage/RobotCode2023/tree/main) and [2024](https://github.com/Mechanical-Advantage/RobotCode2024) Robot Code (specifically interested in vision)\n- [Team 5104 Vision SlideShow](https://docs.google.com/presentation/d/1ThMRapRsx5xbsswi_BTG8JsSiyXnA3HB3lH4m8eyqG4/edit?usp=sharing)\n\n\n*(additional random notes for myself located in notes.md)*\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fteam334%2Fswervebase","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fteam334%2Fswervebase","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fteam334%2Fswervebase/lists"}