This repository provides a basic implementation of a swerve drive system in Python using WPILib for FRC robots. The code is organized into several key files:
- swerve.py: Contains the
SwerveandSwerveModuleclasses, implementing the swerve drive system. - constants.py: Defines constants used throughout the code, such as motor ports and encoder settings.
- robot.py: Contains the
Robotclass, the main entry point for the robot code. - robotcontainer.py: Contains the
RobotContainerclass, which wraps theSwerveclass and provides a simple interface for the robot code.
The purpose of this repository is to provide a Python example of a swerve drive implementation for FRC teams to use. It serves as a reference and starting point for teams looking to develop their own swerve drive systems using Python and WPILib.
- Add CAN IDs for SparkMax motors in
constants.py. - Calibrate the gyro in
swerve.py. - Initialize the encoder in
swerve.py. - Invert motor directions if necessary in
swerve.py. - Adjust deadbanding and velocity limiting constants in
swerve.py. - Test and debug the code thoroughly.
This repository is licensed under the Apache License 2.0. See the LICENSE file for details.
Contributions are welcome! If you'd like to contribute to this repository, please fork the repository and submit a pull request with your changes.
This repository is based on the WPILib Python examples and the FRC community's swerve drive implementations.
If you have any questions or feedback, please contact the repository owner at Grass-Rat.
This code is provided as-is, without any warranty or support. Use at your own risk. It's not recommended to use this code as-is without completing the outstanding tasks and ensuring it works as intended. I am working on that. I just made this as a basic example and impulsively developed it in the span of an hour, I will be testing it tonight (06/25/2024). Please keep this in mind!