/SwerveBase

Primary LanguageJavaOtherNOASSERTION

Repository containing the base of 5687 Swerve Drive.

Includes / Will Include :

  • Differential Module State Space Model
  • LQR Control of Modules
  • Localization Pose Estimator
  • Trajectory Generation / Following
  • Maverick
  • Venom

Localization:

Will use the WPILib SwerveDrivePoseEstimator which implements a Uncented Kalman Filter with latency compensation.

Devices:

  • Photon Vision with Hardware (Limelight or GloWorm)
    • Pro: Easy drop in, supported by WPILib.
    • Pro: Can be relativly cheap.
    • Con: Needs retro reflective tape for estimation thus needing to be seeing a target.
  • ZED 2:
    • Pro: Has SLAM algorithm for locatilation with depth sensing for more ways of localization
    • Pro: Lots of potential if utilized correctly.
    • Pro: Has external GPU for off board calculations.
    • Con: Expensive bundle (ZED 2 ~$400 along with Nvidia Series ~$100-$400)
    • Con: Not as easy to drop in.

Trajectory Generation:

Methods:

  • WPILib Trajectory Generation:
    • Pro: Easy to implement and supported regulary.
    • Con: Doesn't have great heading control for swerve (possible to tweak)
  • Custom:
    • Pro: Can design to your liking.
    • Con: Not simple.