https://github.com/team334/swervebase-ctre

A base project for future robots that has CTRE generated swerve drive code and PhotonVision AprilTag processing.
https://github.com/team334/swervebase-ctre

ctre frc java swerve

Last synced: 3 months ago
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A base project for future robots that has CTRE generated swerve drive code and PhotonVision AprilTag processing.

• Host: GitHub
• URL: https://github.com/team334/swervebase-ctre
• Owner: Team334
• License: other
• Created: 2024-11-14T00:21:44.000Z (7 months ago)
• Default Branch: main
• Last Pushed: 2025-01-18T03:18:30.000Z (5 months ago)
• Last Synced: 2025-03-05T02:17:49.972Z (3 months ago)
• Topics: ctre, frc, java, swerve
• Language: Java
• Homepage:
• Size: 3.71 MB
• Stars: 2
• Watchers: 4
• Forks: 1
• Open Issues: 5
• Metadata Files:
  • Readme: README.md

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README

        
# SwerveBase-CTRE

[![CI](https://github.com/Team334/SwerveBase-CTRE/actions/workflows/main.yml/badge.svg)](https://github.com/Team334/SwerveBase-CTRE/actions/workflows/main.yml)

A base project for future robots that has CTRE generated swerve drive code and Photon Vision AprilTag processing.

# Features

- Swerve drive code using CTRE's swerve code generator.

- Device logging with SignalLogger and data logging with Epilogue and DogLog.

- Device Fault Logging as telemetry for at-home testing. The faults are also logged with DogLog for post-match review.

- Pre-match self-check with custom self-check commands.

- A custom `VisionPoseEstimator` class that reads from a Photon Vision camera and updates the swerve pose estimator with filtered and disambiguated AprilTag vision measurements.

- Automated wheel radius characterization routine (based on 6328's wheel characterization).

- A custom zshell script that performs camera calibration with mrcal given an input video of a chessboard dance.

- Choreo support.

# Todo

- Add more unit tests.

- Add proper licenses.

# How This Will Be Used

- At the start of the 2025 season this project should be re-imported in the 2025 wpilib release for any additional updates.

- After that, since this project is a template on github, the actual 2025 robot code repo can be generated from this template:

![github templates](https://docs.github.com/assets/cb-76823/mw-1440/images/help/repository/use-this-template-button.webp)

# Calibration Process

- Run `calibration/calibrator.zsh` in zshell in WSL in the `calibration` folder (make sure all packages are installed).

- Analyze calibration as according to the mrcal tour.

- If the calibration was good, load the generated JSON into photon vision.