https://github.com/xiaoxiae/swervedrivevisualisation

A visualisation of the math behind swerve drive used in FRC robots using the Processing library.
https://github.com/xiaoxiae/swervedrivevisualisation

frc java jinput processing swerve swerve-drive

Last synced: about 1 year ago
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A visualisation of the math behind swerve drive used in FRC robots using the Processing library.

• Host: GitHub
• URL: https://github.com/xiaoxiae/swervedrivevisualisation
• Owner: xiaoxiae
• Created: 2018-06-15T21:44:00.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2018-06-21T20:55:33.000Z (almost 8 years ago)
• Last Synced: 2025-04-28T14:14:33.736Z (about 1 year ago)
• Topics: frc, java, jinput, processing, swerve, swerve-drive
• Language: Java
• Homepage:
• Size: 2.52 MB
• Stars: 8
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Swerve Drive Visualisation

This project is a simple visualisation of the speeds and angles of the vectors of a swerve drive for a given 3-axis input.

It serves both as a nice visualisation for an omnidirectional drive system, and as a help for those trying to understand the math behind a system like this.

![](img/preview.gif)

## Controls

The simulation features minimalistic controls for the **Logitech Extreme 3D Pro** controller (currently the only supported controller):

* **Left Mouse Click** resizes the chassis of the robot.

* **X axis** of the controller controls the left/right motion.

* **Y axis** of the controller controls the forward/backward motion.

* **Rotation axis** of the controller controls the rotation motion.

## Resources

* [JInput](https://github.com/jinput/jinput) was the library used for the controller input.

* [Processing 3](https://processing.org/) is the graphic library used to visualise the simulation.

* Ether's [derivation of inverse kinematics of swerve drive drive](https://www.chiefdelphi.com/media/papers/download/3027) was an absolutely awesome resource for working through the math of the system.

* Jacob Misirian's [FRC Swerve Drive Programming guide](https://legacy.gitbook.com/book/jacobmisirian/frc-swerve-drive-programming/) was quite helpful as well, as it went over the Java implementation of such system on FRC robots.