Swerve

I created these simulations using Webots to learn more about robotics and autonomous behaviors / controls.

Usage

git clone [email protected]:twh2898/swerve.git
cd swerve
make setup
make build

Lint / Format

Use make lint to check formatting inconsistencies in the code. Use make format to fix these inconsistencies.

make lint
make format

Open the world file using Webots worlds/SwerveWorld.wbt

Development

Most of the code is found under libraries/ where a folder exists for each component along with the a CMakeLists.txt for adding them as build targets.

libraries
├── base/
│   ├── CMakeLists.txt
│   ├── include/
│   └── src/
├── CMakeLists.txt
├── json/
│   ├── CMakeLists.txt
│   └── include/
└── util/
    ├── CMakeLists.txt
    ├── include/
    └── src/

This library of components is used in each of the robot controllers found under controllers/

controllers/
├── CMakeLists.txt
└── swerve/
    ├── CMakeLists.txt
    ├── config.json
    ├── include/
    └── src/

Currently, only the swerve controller is under development along with the library code.

Additional Files

Models are located under models/ including the Collada models and Blender source files.

Prototypes and additional models are located under protos/

protos/
├── caster/
│   ├── Caster.proto
│   ├── model/
│   └── SpringCaster.proto
├── drive/
│   ├── Drive.proto
│   └── model/
├── Roomba.proto
├── Swerve.proto
└── Trackless.proto

Image