https://github.com/windingmotor/swervedrive2023

[OUTDATED USE OTHER AdvantageJava2024 REPO] A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Features code for an elevator and grabber.
https://github.com/windingmotor/swervedrive2023

first-robotics-competition frc frc-charged-up frc-java frc-robot path pathplanner swerve swerve-drive wpilib

Last synced: 4 months ago
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[OUTDATED USE OTHER AdvantageJava2024 REPO] A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Features code for an elevator and grabber.

• Host: GitHub
• URL: https://github.com/windingmotor/swervedrive2023
• Owner: WindingMotor
• License: other
• Created: 2023-01-06T19:13:24.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-01-19T03:14:34.000Z (about 1 year ago)
• Last Synced: 2024-10-10T03:01:14.892Z (4 months ago)
• Topics: first-robotics-competition, frc, frc-charged-up, frc-java, frc-robot, path, pathplanner, swerve, swerve-drive, wpilib
• Language: Java
• Homepage:
• Size: 441 KB
• Stars: 12
• Watchers: 4
• Forks: 6
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# Disclaimer 🛑 - This codebase has bugs and forks should be using AdvantageJava2024 with built in advantage kit support!

https://github.com/WindingMotor/AdvantageJava2024

# SwerveDrive2023 - FRC Team 2106

A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders.

Fully working and updated for 2023. Designed for our 2023 Robot, Continuity, that

features a elevator and grabber combo. 

## Pathplanner support is currently being removed for my own auto implementation

## This part of the code is working:

#### Teleop control with Joysticks or an FPV Transmitter

#### Field Oriented control with PID

#### Command based auto with pathplanner

#### Photonvision basic april tag aligment

#### Elevator and grabber PID Code

## Here is what is currently being worked on:

#### Auto commands

#### Advanced Phtonvision commands

#### Photonvision Odometry

## GIFs

![Image](https://media.giphy.com/media/qFHMvT4GHZq3IuzlKR/giphy.gif)

![Image](https://media.giphy.com/media/gQ6jfuotT8burf9T6B/giphy-downsized-large.gif)

![Image](https://media.giphy.com/media/v1.Y2lkPTc5MGI3NjExZDhhMTQwYjUzYWY2YmE1MjgzMDRiZTNjN2U4ZTMwODNlODhlMDNmOSZjdD1n/abbE2y5Egcj5hCUUJS/giphy-downsized-large.gif)