https://github.com/newdeanplus/6512-swerve-2024
Team 6512 Swerve Code (Developed with the help of Team 4534)
https://github.com/newdeanplus/6512-swerve-2024
frc frc-java frc-swerve
Last synced: about 1 month ago
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Team 6512 Swerve Code (Developed with the help of Team 4534)
- Host: GitHub
- URL: https://github.com/newdeanplus/6512-swerve-2024
- Owner: NewDeanPlus
- License: other
- Created: 2024-03-18T01:47:17.000Z (about 1 year ago)
- Default Branch: master
- Last Pushed: 2024-08-12T22:28:03.000Z (9 months ago)
- Last Synced: 2025-02-09T07:33:15.891Z (3 months ago)
- Topics: frc, frc-java, frc-swerve
- Language: Java
- Homepage: https://coastalcatastrophe6512.weebly.com/
- Size: 96.7 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
## Team 6512 (Functioning) Swerve Code
This is the swerve code we will use as a foundation to build off of for our 2024-25 robot, which will be our first robot with a swerve drivetrain.
We are using the SDS Mk4 Swerve Modules with REV Neos and Spark MAX Motor controllers. For encoders, we are using Thrifty absolute magnetic encoders and the built-in Spark Max relative encoders.
### Current Status
- Code Functions Properly(ish)
- Turning sensitive
### To Do
- Have programming team analyze code to make sure all members fully understand everything and where we are starting from.
- Add comments explaining everything and how it all works.
- Work on more advanced stuff like kinematics / odometry for smoother driving.
- Work on autonomous using PathPlanner / PathWeaver.
- Test robot and field orientation after adding gyro.
### Created with help from these projects:
- - [4534's 2023 Swerve Code](https://github.com/4534-WiredWizards/4534-Swerve-Public) - Thanks to our mentor team, the Wired Wizards, for helping us get our swerve drivetrain up and working, along with providing their swerve code.
- - [2495's Edited MAXSwerve Template](https://github.com/FRC2495/MAXSwerve) - Used ThriftyEncoder class from this project, as we couldn't get the Thrifty absolute magnetic encoders working with base WPILIB libraries.
- [6624's Swerve Example](https://compendium.readthedocs.io/en/latest/tasks/drivetrains/swerve.html) - Although this code caused our drivetrain to behave strangely, 6624's swerve documentation gave us a good idea of how many of the concepts that swerve is based around worked.