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How to create a swerve drive?

YAGSL is unique in the fact that you can create a swerve drive based entirely off of JSON configuration files. The JSON configuration files should be located in the deploy directory. You can also create the Configuration objects manually and instantiate your Swerve Drive that way.

How to create a SwerveDrive using JSON.

This example program creates the SwerveDrive in the SwerveSubsystem, as you should only interact with it in the SwerveSubsystem if you are using command based programming.

import java.io.File;
import edu.wpi.first.wpilibj.Filesystem;
import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser;
import frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive;

File swerveJsonDirectory=new File(Filesystem.getDeployDirectory(),"swerve");
    SwerveDrive swerveDrive=new SwerveParser(swerveJsonDirectory).createSwerveDrive();

This way is fast and easy, no more large unmaintainable and daunting constants file to worry about! To create a JSON directory look at the JSON documentation.

Creating a swerve drive.

  • Install NavX, CTRE and REV vendor dependencies.
  • Clone YAGSL. git clone https://github.com/BroncBotz3481/YAGSL
  • Move swervelib into src/main/frc/java/subsystems/swervedrive/swerve
  • Copy example JSON directory or create your own then move it into src/main/frc/deploy/swerve
  • Create SwerveDrive from JSON directory via SwerveDrive drive = new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve")).createSwerveDrive();
  • View the java docs in docs/index.html
  • Experiment!

Contributions

This library is based off of 95's SwervyBot code in addition to a wide variety of other code bases. A huge thank you to every team which has open sourced their swerve code!