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https://github.com/BroncBotz3481/YAGSL
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1.4 KiB
1.4 KiB
Yet Another Generic Swerve Library
- In early 2023
swerve-libcreated by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022. - This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power.
Features
- When a compatible absolute encoder is given it will be used as a remote encoder for the steering motor reducing CAN messages.
- Autogenerated shuffleboard dashboard for each module which can be updated periodically with the verbosity setting.
- The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following.
- Simulation support.
SwerveDrive swerveDrive = new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve")).createSwerveDrive();
Library Information
- The library is located in swervelib/ with documentation in docs/ and example JSON in deploy.
Check out the Wiki
Java docs is here.
Images
