https://github.com/mineinjava/quail

Bird Brained Swerve Utility for Crabs
https://github.com/mineinjava/quail

firstroboticscompetition firsttechchallenge frc ftc ftc-java hacktoberfest robotics swerve swerve-drive

Last synced: about 18 hours 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 (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-08-10T06:37:29.000Z (about 2 months ago)
• Last Synced: 2024-09-26T14:01:11.313Z (about 18 hours ago)
• Topics: firstroboticscompetition, firsttechchallenge, frc, ftc, ftc-java, hacktoberfest, robotics, swerve, swerve-drive
• Language: Java
• Homepage: https://astr0clad.github.io/quail_docs/
• Size: 1020 KB
• Stars: 13
• Watchers: 2
• Forks: 6
• Open Issues: 16
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Code of conduct: CODE_OF_CONDUCT.md

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README

        

# Quail



[![](https://jitpack.io/v/mineinjava/quail.svg) ](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)) 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 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