SWERVE!!!!

YOO WE GOT SWERVE EVERYBODY!!

actual documentation below

File structure

In trying to keep the file structure as similar to the 2022 commandrobot structure, we have the following files:

• subsystems

  • drivetrain

• commands

  • Auto | Test command for following paths
  • Drive | This is the code used for controller based driving

Credits

The code in this repo is based on a lot of different things:

• FRC 0 to Autonomous
• ahayden04's c++ swerve implementation
• 2067's The Basics of Swerve Drive talk
• SDS Example Java code