frc1711/swervelib

A library that seeks to provide a convenient swerve drive implementation for FRC teams.

❌DEPRECATED❌

Swervelib is now deprecated. Use WPILibJ built-in swerve drive kinematics and other swerve drive utilities instead.

Implementing Swervelib

This is just a small library in order to help implement swerve drive more easily. In order to use it, first download the latest release from this release's assets and, in your wpilib project, create a new directory named libs and place the jar inside. Next, navigate to your project's build.gradle file and, under the dependencies section, add the following line:

implementation name: 'BUILDNAME'

Above the dependencies section, you should also add the following:

repositories {
	flatDir {
		dirs 'libs'
	}
}

Replace 'BUILDNAME' with the name of the .jar release.

Documentation

Documentation can be viewed online here.

Versioning

With the exception of very early versions of swervelib, versions will be named by v(version).(wpilib-version). For example, v2.2022.1.1 would be swervelib v2, built for wpilib version 2022.1.1.

swervelib's Issues

AutonDrive doesn't add swerveDrive as req until initialization

AutonDrive doesn't add the SwerveDrive subsystem as a requirement until the command is initialized

Implement Sendable

Implement the Sendable interface so that swerve drive information can be more easily sent to the driver station

add a functional interface to allow speed to vary with distance for auton

In AutonDrive and AutonDriveSimple, speed is passed to the command as a double through the constructor method. I believe AutonDrive has an option to reduce the speed as the robot approaches the endpoint, but it’s clunky and only works so well.

Try to implement a system which allows a functional interface (taking proportion of distance to the endpoint as a parameter) to be passed in instead of a double to AutonDrive and AutonDriveSimple.

Make sure to talk to me before you implement this, though—I’m not quite finished with setting up all the other systems which you’ll need before adding this functionality and I’d like to talk before anyone spends time working on this.

Use a better course correction method for AutonDrive

Use a better course correction for AutonDriveSimple than the current one which rotates the entire robot to stay on course (use strafing corrections instead)

Problem with turning (complicated)

check getMovementVector() in AutonDriveSimple - moving in the wrong initial direction could mess up a 180 degree turn

Add a separate inputDrive method for SwerveDrive, made specifically for auton/generated controls usage

Add another method, related to inputDrive() in SwerveDrive, made specifically for using swerve drive with inputs that are generated through commands. This should be accompanied by the removal of maxOutput in SwerveDrive. In the new inputDrive() method for auton, none of the following should influence the kinematics:

• swerveDrivingSpeeds
• Any InputHandler

Input deadbands for AutoSwerveDrive

fieldRelativeInputDrive doesn't apply deadbands to its parameters, but instead allows inputDrive from SwerveDrive to apply the deadbands from its input (from fieldRelativeInputDrive) and so the deadbands may not be applied properly

gradle 8.0.0 = big dumb

This:

The RepositoryHandler.jcenter() method has been deprecated. This is scheduled to be removed in Gradle 8.0. JFrog announced JCenter's sunset in February 2021. Use mavenCentral() instead. Consult the upgrading guide for further information: https://docs.gradle.org/7.3.3/userguide/upgrading_version_6.html#jcenter_deprecation       
        at build_ew9wuayqslcivrun87nnfd7q3$_run_closure1.doCall(C:\all\programming\Robotics\Swerve Library\swervelib\build.gradle:16)
        (Run with --stacktrace to get the full stack trace of this deprecation warning.)

Auton vs. gyro distinction

There should be a way to use AutoSwerveDrive for field-relative robot control without needing to implement autonomous functions

make a negative distance move backwards

In AutonDrive, a negative distance should make the SwerveDrive drive in the opposite direction