Hosting on Jitpack Instructions

• For adding a Jitpack repository to your build follow instructions on this link https://jitpack.io/
• Make a new release on Github of your repository
• Insert repository link on Jitpack to find your latest release
• In build.gradle file change "implementation 'com.github.SachemAftershock:swerve-lib:...'" to your latest release version
• IMPORTANT you have to create a new release every time, branch-SNAPSHOT does not work

Changes

• WPILIB updated to 2024.1.1
• Pheonix Pro library updated to 24.1.0 (Now called Pheonix 6)
• REVLib updated to 2024.0.0

Sachem Aftershock Swerve Library

This repository is a fork of the unmaintained SDS Swerve Library, updated to interface the Phoenix Pro Library and include methods needed for updated WPILib calls.

Basic Structure

Each Swerve Module contains:

• Drive Controller
  • Controls Driving Motor
• Steer Controller
  • Uses PID to control Steer Motor to given angle. Uses Absolute Encoder (CANCoder) to set the starting position of the relative encoder within the motor. This relative = absolute call occurs multiple times on startup as the CANCoder can take longer to boot than the motor encoders.

The implementation for each of these exists within the ctre and rev folders, in the Falcon500DriveControllerFactoryBuilder, Falcon500SteerControllerFactoryBuilder,NeoDriveControllerFactoryBuilder, and NeoSteerControllerFactoryBuilder files.

Usage

When using this library, use the ModuleHelper file for your given Swerve Module set. For the Swerve2023 project, we used the Mk4SwerveModuleHelper file for our Mk4 modules.

Within each of the ModuleHelper files, are multiple builders for your configuration of motors. For our configuration, a Falcon500 drive motor and Neo steer motor, we would use the createFalcon500Neo call.

This generates a swerve module with the correct configurations for your version of the swerve module, and your provided gearing.

This generates a SwerveModule with 4 accessible methods:

• getDriveVelocity()
  • Gets speed from drive motor in meters/second
• getSteerAngle()
  • Gets angle of drive module in [0, 2pi) radians
• getPosition()
  • Gets position from drive motor in meters
• set(double driveVoltage, double steerAngle)
  • Commands drive motor with voltage of driveVoltage and commands steer motor PID to reach steerAngle