added readme

README.md

@@ -1,2 +1,57 @@
-# Maple-Swerve-Skeleton
-Iron Maple's swerve-drive skeleton project, embedded with advanced features
+# The 🍁 Swerve Skeleton
+
+---
+
+Iron Maple’s Swerve Drive Skeleton Project
+
+High-Freq Odometry, Log-Replay, Vision Odometry, Auto-Alignment, Decisive Auto, and Digital Twin, all set to go!
+
+> 🙏 We extend our deepest appreciation to [Littleton Robotics](https://www.littletonrobotics.org/) for their [open source projects](https://github.com/Mechanical-Advantage), which have made this project possible.
+>
+> ⚖️ This project is based on the [Advanced Swerve Drive Example](https://github.com/Mechanical-Advantage/AdvantageKit/tree/main/example_projects/advanced_swerve_drive/src/main) from [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit/), which is under the [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html#license-text) license. All teams are welcome to use this project, provided that you adhere to the [Advantage Kit License](./AdvantageKit-License.md).
+
+## 🕹️Driving
+
+- **250HZ Odometer**, Time-Synchronized with CAN FD
+- **A Star Driving** 
+- **Skid Detection** inspired by [1690 online software session](https://youtu.be/N6ogT5DjGOk?feature=shared&t=1674) 
+- **Drive Wheels Feedforward** with a Look-Up-Table.
+- **Acceleration Constraining** during TeleOp.
+- **Robot Configuration Storage** in JSON files.
+- **Robot Status Visualization** through [Elastic Dashboard](https://github.com/Gold872/elastic-dashboard), [AdvantageScope](https://github.com/Mechanical-Advantage/AdvantageScope), LED and [Network Alerts](https://github.com/Mechanical-Advantage/NetworkAlerts)
+
+![Screenshot 2024-06-17 005557.png](./media/Screenshot_2024-06-17_005557.png)
+
+## 🤖Auto
+
+- **Decisive Autonomous Framework** with custom auto-follower, allowing robots to “react to its surroundings”.
+- **Path-Planning**, [PathPlanner](https://github.com/mjansen4857/pathplanner) and [Choreo](https://github.com/SleipnirGroup/Choreo) both supported.
+
+## 📝Logging
+
+Built Upon [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit), everything is logged and recorded for after-match analysis
+
+## 👁️Vision
+
+[GitHub - Shenzhen-Robotics-Alliance/FRC-Phantom-Vision: a rapid, powerful, easy-to-use and open-source vision framework for FRC](https://github.com/Shenzhen-Robotics-Alliance/FRC-Phantom-Vision)
+
+- **April-tag Robot Localization** Custom filtering mechanism and odometry calibration algorithm, also compatible with photon-vision.
+- **Auto Alignment** command, set-to-go!
+- **360° Game-Piece Detection** running on Jetson-Orin-Nano coprocessor.
+
+## 👭Digital-Twin
+
+A complete match simulation, with physics, score-count, human-players and even opponent robots.
+
+- **Uses Actual Robot Code** in the simulator. This means that you can tune Auto-Stages, PIDs, Auto-Scoring functions and more.  The simulator display robots through https://github.com/Mechanical-Advantage/AdvantageScope.
+- **Swerve-Drive Physics Simulation**, fine-tuned with experimental data measured in our training field, as well as real-life data gathered from real competitions this year.
+
+    ![physics simulation 2.gif](./media/physics_simulation_2.gif)
+
+- **2D Rigid-Body Collision Simulation** for game-pieces and robots on field.  Using open source 2d physics engine https://github.com/dyn4j/dyn4j.
+
+    ![robot physics simulation.gif](./media/robot_physics_simulation.gif)
+
+- **Opponent Robots Simulation** that can either be controlled by a gamepad to play defense or follow pre-stored cycle paths.
+
+    ![Untitled video - Made with Clipchamp.gif](./media/Untitled_video_-_Made_with_Clipchamp.gif)

layouts/driving

@@ -0,0 +1 @@
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