https://github.com/steelridgerobotics/2024waffles

Our team's 2nd iteration of swerve drive made for the 2024 season, Crescendo
https://github.com/steelridgerobotics/2024waffles

2024-crescendo crescendo frc frc-crescendo frc-robot path-planner python python-3 python3 robotpy swerve-drive wpilib

Last synced: about 18 hours ago
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Our team's 2nd iteration of swerve drive made for the 2024 season, Crescendo

• Host: GitHub
• URL: https://github.com/steelridgerobotics/2024waffles
• Owner: SteelRidgeRobotics
• License: gpl-3.0
• Created: 2024-01-10T03:34:53.000Z (9 months ago)
• Default Branch: main
• Last Pushed: 2024-08-08T06:24:10.000Z (about 2 months ago)
• Last Synced: 2024-09-26T13:42:48.100Z (about 18 hours ago)
• Topics: 2024-crescendo, crescendo, frc, frc-crescendo, frc-robot, path-planner, python, python-3, python3, robotpy, swerve-drive, wpilib
• Language: Python
• Homepage: https://www.steelridge6343.com/
• Size: 278 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Waffles

Waffles is Steel Ridge Robotics' (FRC 6343) official swerve drive codebase, which began development in late 2022.

## What is swerve drive?

Swerve drive is an omnidirectional drive train where all wheels are independently steered and driven.

This gives us unique advantages over other drive trains:

- Strafing, driving left to right, is possible and more efficient than mechanum drive trains.

- More speed conserved when turning, since the robot has no need to rotate.

- More traction with the ground than a mechanum drive train. (Can't be pushed around as easily)

- Flexing on other teams.

# Software Overview

Waffles contains the following:

- Fused CANcoders for precise steering

- Continuous wrap for optimized steering

- Motion profiling combined with [field-orientated control](https://en.m.wikipedia.org/wiki/Vector_control_(motor)) to reduce skidding and improve handling.

- Ability to switch between robot-centric and field-relative modes.

- Skidding and collision detection, to compensate for errors in autonomous driving.

- Advanced joystick mapping to ensure maximum speed.

- PathPlanner support (includes Choreo configuration)

- NavX simulation

- Full simulation support for all modes

- Auto Trajectories Visualized in Shuffleboard

- Shuffleboard and Elastic Support

# Technical Overview

Our swerve drive is comprised of the following:

- 4 swerve modules in each corner of the base frame

  - 2 motors in each modules (8 motors total)

    - 1 for steering the wheel (the "steer motor")

    - 1 for driving/spinning the wheel (the "drive motor")

We use [Falcon 500](https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/)s for each motor, 

as well as 1 [CANcoder](https://store.ctr-electronics.com/cancoder/) for each module.