Our 2018 code that is documented featuring swerve drive control logic.
There is a known bug in the swerve module direction contol logic which may cause abrupt 180 pivots of modules. We decided not to persue a fix and believe it might be caused by sensor noise or anomolous data readings from encoders.
The dashboard source can be found here: https://github.com/PhyXTGears-programming/2018-Dashboard
Note: Our Dashboard is undocumented but should be straightforward with basic Labview knowlege.
If you need clarification on any code contact Eth N at https://github.com/Bloodcloak