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https://github.com/frcteam3255/standard_swerve_code
https://github.com/frcteam3255/standard_swerve_code
Last synced: about 2 months ago
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- Host: GitHub
- URL: https://github.com/frcteam3255/standard_swerve_code
- Owner: FRCTeam3255
- License: other
- Created: 2023-08-05T22:52:53.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-09-07T01:01:59.000Z (4 months ago)
- Last Synced: 2024-09-07T02:17:06.263Z (4 months ago)
- Language: Java
- Homepage:
- Size: 157 KB
- Stars: 0
- Watchers: 3
- Forks: 2
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Codeowners: .github/CODEOWNERS
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README
# Standard_Swerve_Code
Originally the repository for creating FRC 3255's swerve drive classes in [SuperCORE](https://github.com/FRCTeam3255/SuperCORE), this repository now holds the example implementation of our SN_SuperSwerve class.
## Important Things to Understand:
[Intro to Swerve - Software Overview](https://docs.google.com/presentation/d/1TPgX1LmMHTN7iIq1K4172TEAYrTftHnFnPqoAa06ExA/edit?usp=sharing) - *A presentation created to explain this code to 3255 members. Speaker notes contain what was generally spoken.*
- Generally, how a Swerve Drive works. I personally learned the most from my team & from SeanSun6814's (FRC 0 to Autonomous) [video](https://www.youtube.com/watch?v=0Xi9yb1IMyA)
- Optimization of swerve angles - Learn more [here](https://youtu.be/0Xi9yb1IMyA?t=226)
- What a Rotation2d is - [WPILib Documentation](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/pose.html#rotation)
- WPILib Robot Coordinate System & Field Coordinate System - [WPILib Documentation](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system)
- What a Pose Estimator is and the constants required to tune it (standard deviation) - [WPILib Documentation](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-pose-estimators.html#pose-estimators)
- Physical constants are measured in person or taken from the [online listing](https://www.swervedrivespecialties.com/products/mk4i-swerve-module).
## References:
- https://github.com/FRCTeam3255/Robot2023
- https://github.com/dirtbikerxz/BaseTalonFXSwerve
- https://github.com/SeanSun6814/FRC0ToAutonomous and his [video](https://www.youtube.com/watch?v=0Xi9yb1IMyA)