- In early 2023
swerve-lib
created by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022. - This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power.
- The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following.
- Simulation support.
import edu.wpi.first.math.util.Units;
SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(),"swerve")).createSwerveDrive(Units.feetToMeters(14.5));
- The library is located in swervelib/ with documentation in docs/ and example JSON in deploy.
- Support for NetworkAlerts for use in Shuffleboard.
- Latest resources and features will be posted on the discusions page here.
- Install NavX Library
- Install Phoenix Library
- Install REVLib.
- Install ReduxLib.
- Install YAGSL (
https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json
)
Check out the Wiki
Java docs is here.
swerve_falcons_fix.mov
swerve_neos.mp4
Without the debugging and aid of Team 7900 the project could never be as stable or active as it is.
Without their hardwork debugging the issue with feedforwards the 2024 release would not have been possible. Thank you!