Yet Another Generic Swerve Library (YAGSL) Example project

YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most square swerve drives. The project is documented on here.

This example is intended to be a starting place on how to use YAGSL. By no means is this intended to be the base of your robot project. YAGSL provides an easy way to generate a SwerveDrive which can be used in both TimedRobot and Command-Based Robot templates.

Overview

Installation

Vendor URL:

https://yet-another-software-suite.github.io/YAGSL/yagsl/yagsl.json

Javadocs here
Library here
Code here
WIKI
Config Generation

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Development

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TL;DR Generate and download your configuration here and unzip it so that it follows structure below:

deploy
└── swerve
    ├── controllerproperties.json
    ├── modules
    │   ├── backleft.json
    │   ├── backright.json
    │   ├── frontleft.json
    │   ├── frontright.json
    │   ├── physicalproperties.json
    │   └── pidfproperties.json
    └── swervedrive.json

Then create your SwerveDrive object like this.

import java.io.File;
import edu.wpi.first.wpilibj.Filesystem;
import swervelib.parser.SwerveParser;
import swervelib.SwerveDrive;
import edu.wpi.first.math.util.Units;


SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(),"swerve")).createSwerveDrive(Units.feetToMeters(14.5));

Configuration Tips

Maintainers

• @thenetworkgrinch
• @Technologyman00

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Without the debugging and aid of Team 7900 the project could never be as stable or active as it is. Falcon Support would not have been possible without support from Team 1466 Webb Robotics!