Yet Another Generic Swerve Library

• In early 2023 swerve-lib created 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

Falcon Video

https://user-images.githubusercontent.com/10247070/219801595-b9705a0a-74f1-41c8-b4d9-023ccf9ddbf8.mov

Neo Video

https://user-images.githubusercontent.com/10247070/219801620-c2850078-9b58-4f32-95b4-0f8f6fba23d4.mp4