[Jefferson]

Originally Posted by Arrowhead

I know that Bomb Squad has their code on GitHub, you could check that out. additionally, Ether has some papers with the pseudo code for a swerve drive here: http://www.chiefdelphi.com/media/papers/2426

BombSquad code is here. I just opened up our 2014 code.

If you are only interested in Swerve Drive code, check out the Macy's robot code. It's really just a swerve drive with a confetti shooter.

https://github.com/FRCTeam16