Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

Yet Another General Swerve Library Example Project

Third Coast swerve drive and telemetry API for FRC robots

FRC Swerve Drive Example

Dockerized simulation of a swerve-drive robot.

Bird Brained Swerve Utility for Crabs

An interactive visual path planning tool for swerve drive robots.

FRC swerve library for Python

Team 2875 Cyberhawks swerve-drive and utility library for FRC (Kotlin/Java)

The Swerve base practically used by Team 364 Fusion.

[OUTDATED USE SwerveDrive2025 REPO] A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Features code for an elevator and grabber.

A visualisation of the math behind swerve drive used in FRC robots using the Processing library.

🤖 This repository holds our final bot's code for the 2017-18 FTC robotics challenge: Relic Recovery!

FRC Robot code for team 2106's 2025 robot - Guppy. Features TalonFX swerve drive, 3 stage elevator, and active angle intake all with Advantage Kit logging. Extensive simulation and auto capabilities with PathPlanner and PhotonVision.

The 364 Practical Swerve base - adapted for REV Motors.

Our robot for the 2024 FRC season, Crescendo.

A library that seeks to provide a convenient swerve drive implementation for FRC teams.

A Java rewrite and improvement of Team 2539's 2022 robot code.

Repository for a differential swerve robot using limited Lego electronics