Yet Another Generic Swerve Library

• 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.

Features

• 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.

Discussions

• Latest resources and features will be posted on the discusions page here.

Library Information

Installation

• Install NavX Library
• Install Phoenix Library
• Install REVLib.
• Install YAGSL (https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json)

Easy Configuration File Generation

Check out the Wiki

Java docs is here.

Images

Falcon Video

swerve_falcons_fix.mov

Neo Video

swerve_neos.mp4

Special Thanks to Team 7900! Trial N' Error

Without the debugging and aid of Team 7900 the project could never be as stable or active as it is.

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