SwerveBot-2022

Team 3512's swerve drive code for the 2022 offseason

Written in Java utilizing WPILib's Command-Based structure

Modified from Team 364's BaseFalconSwerve project to utilize NEO motors + WPILib PID controllers.

Therefore, their instructions on modifiying the constants to fit your robot will also work on this repo as well.

Note:

Since it uses the WPILib PID controllers, this means that controls are running onboard the roboRIO. If you wish to utilize the internal Spark Max PID controller to save utilization of the roboRIO, then modifications are needed.

Configurations

• Works with a swerve drive with NEO brushless motors, Spark Max motor controllers, CTRE CANCoders, and CTRE Pigeon 2.0 IMU.
• Drive and steer ratios are configured for the SDS MK4 L4 modules, but can be easily be adapted to other modules.
• We've also cut the speed by 50% in the TeleopSwerve command for our own robot. Definitely change/remove this accordingly, especially when using modules with different drive gear ratios.
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