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 18 hours 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 (6 months ago)
• Default Branch: master
• Last Pushed: 2024-08-12T22:28:03.000Z (about 2 months ago)
• Last Synced: 2024-09-26T13:42:31.706Z (about 18 hours 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
• 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.