https://github.com/s1ink/swerve-simulation

An extension of the original team project during summer 2023
https://github.com/s1ink/swerve-simulation

frc java simulation swerve-drive wpilib

Last synced: 4 days ago
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An extension of the original team project during summer 2023

• Host: GitHub
• URL: https://github.com/s1ink/swerve-simulation
• Owner: S1ink
• License: gpl-3.0
• Created: 2023-09-08T15:58:56.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-01-02T06:17:12.000Z (11 months ago)
• Last Synced: 2024-01-27T01:11:24.853Z (10 months ago)
• Topics: frc, java, simulation, swerve-drive, wpilib
• Language: Java
• Homepage: https://github.com/FRC3407/Swerve-Sim
• Size: 11.6 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Swerve-Simulation

#### A generic swerve simulator and swerve framework based on second order kinematics control.

- ## Resources Used

  - [Swerve base CAD (onshape)](https://cad.onshape.com/documents/e5ac6c72dd56b8c17b755e80/w/53462e21ae53c65e73ff644e/e/8f86e6f27e761f0f1d59d196?renderMode=0&uiState=648e46aaf2f9a210eca5e3a9)

  - [SDS MK4i page (for CAD specs)](https://www.swervedrivespecialties.com/products/mk4i-swerve-module)

  - [AdvantageScope Docs](https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/INDEX.md)

  - [AdvantageScope 3d field docs](https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/tabs/3D-FIELD.md)

  - [AdvantageScope custom configurations (robot models)](https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/CUSTOM-CONFIG.md)

  - [AdvantageScope converting CAD to glTF](https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/GLTF-CONVERT.md)

  - [WPILib coordinate systems](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html)

  - [WPILib state-space control](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html)

  - [WPILib physics simulation (state-space model)](https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/physics-sim.html)

  - [WPILib Swerve Kinematics](https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html)

  - [WPILib Swerve Odometry](https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-odometry.html)

  - [Advanced Kinematics Tuning](https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964) --> [Relevant Whitepaper](https://www.chiefdelphi.com/uploads/short-url/qzj4k2LyBs7rLxAem0YajNIlStH.pdf)

  - [Rigid Body Dynamics - Wikipedia](https://en.wikipedia.org/wiki/Rigid_body_dynamics)