SuperSwerve23

Code created for FRC 3255's swerve drive that is planned to be adapted into SuperCORE

Important Things to Know/Understand:

Intro to Swerve - Software Overview - A presentation created to explain this code to 3255 members. Speaker notes contain what was generally spoken.

• Generally, how a Swerve Drive works. I personally learned the most from my team & from SeanSun6814's (FRC 0 to Autonomous) video
• Optimization of swerve angles - Learn more here
• What a Rotation2d is - WPILib Documentation
• WPILib Robot Coordinate System & Field Coordinate System - WPILib Documentation
• What a Pose Estimator is and the constants required to tune it (standard deviation) - WPILib Documentation
• Physical constants are measured in person or taken from the online listing. We have the Falcon 500 Pinions with the L2 Gear Ratio.

References:

• https://github.com/FRCTeam3255/Robot2023
• https://github.com/FRCTeam360/364BaseFalconSwerve
• https://github.com/SeanSun6814/FRC0ToAutonomous and his video