https://github.com/team334/swervebase

A base project for future robots that has code for swerve drive, PhotonVision processing, and led strip control.
https://github.com/team334/swervebase

java swerve-drive vision

Last synced: 2 days ago
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A base project for future robots that has code for swerve drive, PhotonVision processing, and led strip control.

• Host: GitHub
• URL: https://github.com/team334/swervebase
• Owner: Team334
• License: other
• Created: 2024-07-06T16:48:04.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2024-10-24T17:59:55.000Z (22 days ago)
• Last Synced: 2024-10-24T19:43:41.043Z (22 days ago)
• Topics: java, swerve-drive, vision
• Language: Java
• Homepage:
• Size: 226 KB
• Stars: 2
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# SwerveBase

A base project for future robots that has code for swerve drive and PhotonVision AprilTag processing.

## Features

- Abstract IO for modules / gyros allowing for easy switching between real life, sim, and non-existing.

- Switching between NavX and Pigeon2.

- Device logging and data logging using SignalLogger, URCL, and Monologue.

- High frequency odometry thread for more accuracy.

- Automated pre-match self-check.

- Device configuration re-attempting.

- Device fault logging as telemetry for at-home testing.

- 254's Swerve Setpoint generator to prevent wheel slip.

- SysID routines for module turn motors and translation drive motors.

- A custom class for PhotonVision AprilTag processing featuring filtering methods and standard deviation calculation.

- Single-tag gyro-based disambiguation is part of the tag filtering.

- Wheel radius characterization (todo).

- Torque-current to voltage feedforward control for auton using Pathplanner/Choreo (todo).

- 2025 WPILib beta and other beta libraries (BIG todo)

## Inspiration

- [Team 1155 2024 Build Thread](https://www.chiefdelphi.com/t/frc-1155-the-sciborgs-2024-build-thread-open-alliance/441531)

- [Team 1155 Swerve Base](https://github.com/SciBorgs/Hydrogen/)

- [Team 3015 Code 2024](https://github.com/3015RangerRobotics/2024Public/tree/main/RobotCode2024/src/main/java/frc)

- [Team 353 Code 2024](https://github.com/POBots-353/2024RobotCode/tree/main)

- [CTRE Swerve API Odom Thread](https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/mechanisms/swerve/SwerveDrivetrain.OdometryThread.html)

- Team 6328 [2023](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2023-build-thread/420691?page=2) and [2024](https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2024-build-thread/442736) Build Threads (specifically interested in vision)

- Team 6328 [2023](https://github.com/Mechanical-Advantage/RobotCode2023/tree/main) and [2024](https://github.com/Mechanical-Advantage/RobotCode2024) Robot Code (specifically interested in vision)

- [Team 5104 Vision SlideShow](https://docs.google.com/presentation/d/1ThMRapRsx5xbsswi_BTG8JsSiyXnA3HB3lH4m8eyqG4/edit?usp=sharing)

*(additional random notes for myself located in notes.md)*