Written in Java, using WPILib's Command-Based structure
Modified from Team 364's BaseFalconSwerve project to utilize NEO motors
Therefore, their instructions on modifiying the constants to fit your robot will also work on this repo as well.
- Works with a swerve drive with NEO brushless motors, Spark Max motor controllers, CTRE CANCoders, and CTRE Pigeon 2.0 IMU.
- Drive and steer ratios are configured for the SDS MK4 L4 modules, but can be easily be adapted to other modules.
- Positions in the kinematics are configured differently as we flipped our front two modules by 90 physically. Make changes here if you have them configured in the normal "setup"
- We've also cut the speed by 50% in the TeleopSwerve command for our own robot. Definitely change/remove this accordingly, especially when using modules with different drive gear ratios.