https://github.com/mineinjava/quail
Bird Brained Swerve Utility for Crabs
https://github.com/mineinjava/quail
firstroboticscompetition firsttechchallenge frc ftc ftc-java hacktoberfest robot robotics swerve swerve-drive
Last synced: 5 months ago
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Bird Brained Swerve Utility for Crabs
- Host: GitHub
- URL: https://github.com/mineinjava/quail
- Owner: Mineinjava
- License: gpl-3.0
- Created: 2023-04-19T20:39:28.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2025-01-10T05:02:45.000Z (6 months ago)
- Last Synced: 2025-01-31T00:07:38.128Z (5 months ago)
- Topics: firstroboticscompetition, firsttechchallenge, frc, ftc, ftc-java, hacktoberfest, robot, robotics, swerve, swerve-drive
- Language: Java
- Homepage: https://astr0clad.github.io/quail_docs/
- Size: 1.09 MB
- Stars: 14
- Watchers: 2
- Forks: 6
- Open Issues: 13
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
README
# Quail
[ ](https://jitpack.io/#mineinjava/quail)
Bird-brained swerve drive utility.
Looking to contribute to or use Quail? You may find value in joining the Discord server: https://discord.gg/ABznnnBB
To use Quail, you need a few things. The first is swerve modules. More than one. I don't care where your swerve modules are. They could be 52 miles apart (i.e. [this](https://www.youtube.com/watch?v=Ui-ehJlGM1Q) but with swerve) and in the shape of a pentagon and Quail would still work.
The second thing you need is a little knowledge of Java. You should be able to:
- use a PID controller
- use subclasses
- read an encoder
- make your motors spin (to an angle if using [coaxial swerve](https://www.chiefdelphi.com/t/coaxial-vs-non-coaxial-swerve/158629/4))
If you want to get started quickly, there are docs [here](https://astr0clad.github.io/quail_docs/)
A javadoc can be found [here](https://mineinjava.github.io/quail/javadoc/)
---
I wish I knew Kotlin so I could make it purple. 💜
Currently, Quail is stable. Not quite sure about the documentation--it seems to be a bit tempermental.
Quail is designed for use and tested in FRC and FTC, but it should work in any java robotics program.
---
### Features:
**Working:**
- Swerve reverse kinematics (robot can drive)
- Swerve odometry (robot can know where it is)
- Includes heading odometry (can run field oriented without gyroscope and/or provide corrections to gyroscope via Kálmán filter)
- 2-deadwheel odometry (robot can know where it is (requires additional hardware & gyro))
- Autonomous navigation and pathing
- Kálmán filter for use with vision
**Not quite working**
- Path sequences