https://github.com/crueter/libsix

Phoenix 6-like API for motor controllers, IMUs, absolute encoders, and swerve drivetrains
https://github.com/crueter/libsix

frc swerve-drive

Last synced: 13 days ago
JSON representation

Phoenix 6-like API for motor controllers, IMUs, absolute encoders, and swerve drivetrains

• Host: GitHub
• URL: https://github.com/crueter/libsix
• Owner: crueter
• License: gpl-3.0
• Created: 2024-04-22T20:57:25.000Z (7 months ago)
• Default Branch: master
• Last Pushed: 2024-08-01T02:56:07.000Z (4 months ago)
• Last Synced: 2024-10-17T08:25:07.801Z (29 days ago)
• Topics: frc, swerve-drive
• Language: Java
• Homepage:
• Size: 327 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# libsix

TODO:

- [ ] motor config requests/classes

    - [ ] encoders/gyros

    - [ ] PID

        - Include slots in the config

- [x] swerve control requests

    - [ ] Facing Angle

    - [ ] X-Drive

    - [ ] Robot Centric

    - [ ] SysId control of some sort

- [ ] look forward to prevent slips and such

- [ ] Collision detection; ignore odometry

- [ ] Slip detection

- [ ] Real feedforward

- [ ] Standardized Simulation

- [ ] Differential drivetrain requests

- [ ] 250Hz odometry

    - depends on status signals

- [ ] PWM controller w/ DIO encoder?

- [ ] LogStore & DashboardStore

- [ ] VisionSystem API

- [ ] Acceleration control