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Feat/swerve drive support #25

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wants to merge 39 commits into from
Closed

Feat/swerve drive support #25

wants to merge 39 commits into from

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danielbrownmsm
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@danielbrownmsm danielbrownmsm commented Dec 24, 2022 •
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Adds swerve drive support per #11.

Thus far the basic framework is in place, kind of.
TODO:

  • swerve drive parameters in the parameters.toml file
  • finish SwerveDrive subsystem constructor
  • create methods in SwerveDrive subsystem
  • add shuffleboard tuning and debugging values
  • create commands
  • create unit tests

@danielbrownmsm danielbrownmsm linked an issue Dec 27, 2022 that may be closed by this pull request
Add Swerve Drive Support #11
Open
danielbrownmsm and others added 8 commits December 30, 2022 19:22
@danielbrownmsm
created SwerveModule classes, need to be fleshed out
e8fe72e
@danielbrownmsm
finised adding WPILib swerve support to SwerveDrive subsystem
696c850 
of course, it doesn't do much right now, but the framework is there for writing all the set_output etc.
adds SwerveModulePosition, SwerveModuleState, SwerveKinematics, and SwerveOdometry
also removes all the drivetrian shuffleboard code (because this file was copied from the Drivetrain subsystem)
ticket: #11
@danielbrownmsm
fixes swerve drive initialization in RobotContainer
a5846dd
@danielbrownmsm
fixes swerve drive subsystem constructor
b1e56d1
@danielbrownmsm
instantiates swerve drive kinematics and swerve drive odometry
688361a 
ticket: #11
@danielbrownmsm
Merge branch 'master' into feat/swerve-drive-support
24e7e39
@danielbrownmsm
remove ServeModule class as it was never written and it turns out we …
32f9628 
…don't actually need it

ticket: #11
@danielbrownmsm
Merge branch 'feat/swerve-drive-support' of https://github.com/Team-O…
9cc17d2 
…KC-Robotics/FRC-2022-CPP into feat/swerve-drive-support
@danielbrownmsm danielbrownmsm linked an issue Jan 4, 2023 that may be closed by this pull request
Create a SwerveModule class #32
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@danielbrownmsm
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this pull request is superseded by #35

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Create a SwerveModule class Add Swerve Drive Support
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@danielbrownmsm