6512-Swerve-2024

Team 6512 (Functioning) Swerve Code

This is the swerve code we will use as a foundation to build off of for our 2024-25 robot, which will be our first robot with a swerve drivetrain. We are using the SDS Mk4 Swerve Modules with REV Neos and Spark MAX Motor controllers. For encoders, we are using Thrifty absolute magnetic encoders and the built-in Spark Max relative encoders.

Current Status

• Code Functions Properly(ish)
• Turning sensitive

To Do

• Have programming team analyze code to make sure all members fully understand everything and where we are starting from.
  • Add comments explaining everything and how it all works.
• Work on more advanced stuff like kinematics / odometry for smoother driving.
• Work on autonomous using PathPlanner / PathWeaver.
• Test robot and field orientation after adding gyro.

Created with help from these projects:

• • 4534's 2023 Swerve Code - Thanks to our mentor team, the Wired Wizards, for helping us get our swerve drivetrain up and working, along with providing their swerve code.
• • 2495's Edited MAXSwerve Template - Used ThriftyEncoder class from this project, as we couldn't get the Thrifty absolute magnetic encoders working with base WPILIB libraries.
  • 6624's Swerve Example - Although this code caused our drivetrain to behave strangely, 6624's swerve documentation gave us a good idea of how many of the concepts that swerve is based around worked.