Swerve Programming

Introduction

Introductory discussion. Challenges and ways to deal with them.

Basic Drive and Teleop navigation programming

Working session 05/27/2023. Quicksilver review. Constants, starting Drive subsystem.

Working session 05/31/2023. Discussion on Quicksilver deficiency related to the swerve module definition.

Working session 06/03/2023. Replacing Swerve module constant classes with ENUM. Making initial code for the generic passthrough motor definition.

Working session 06/04/2023. In-depth discussion re: WPI methods that translate joystick inputs into the motor controller inputs based on Quicksilver code. Continue working on the Motor passthrough code. Implementing IMU Passthrough code for both Pigeon2 and NavX.

Working session 07/08/2023. Adding SRX hardware PID configuration.

Working session 07/14/2023. Encoder programming and updates.

Working session 07/15/2023. Motor inversion and encoder phase testing.

Working session 07/21/2023. Drive command. Swerve state.

Working session 07/22/2023. Generic controller implementation. Drivemanually Command.

Working session 07/24/2023. Swerve teleop testing.

Swerve – first unveiling video

Swerve – maneuverability testing 08/04/2023

Swerve – Current limiters, Field Odometry 08/05/2023

Working session 08/13/2023 – PathPlanner trajectory driving

Swerve programming – overview of trajectory tuning changes, IMU restore; encoder – principals of working and types, motor selection for swerve; working session 08/27/2023

Swerve programming – adding Xbox controller for swerve navigation 08/27/2023

Swerve programming – logging with DataLogManager 08/27/2023

Swerve programming – Subway Surfer controls; Rio logging 09/01/2023

Swerve programming – NEO working session 10/01/2023