Hello! On behalf of my team, we are attempting to create a working swerve for this offseason. Currently, I have created the code enclosed below which I am sure is logically sound. However, we have many errors in the program that we don’t know how to resolve. This is also our first year working in java. We would appreciate any feedback. Thank you!
P.S. we are using all neos and mk4is
SwerveDriveSubsystem.java (9.5 KB)
SwerveDriveCommand.java (2.3 KB)
Hi!
I haven’t had the chance to look at the actual logic of your code yet, but I do spot some things that prevent your code from compiling. All points below are regarding SwerveDriveSubsystem.java.
First off, you include multiple public classes inside of the file, which I believe is not possible. Every public class should have its own .java file with a name that matches the name of the class.
Secondly, you have a class SwerveDriveWheel which includes 4 objects of the same class. I don’t see those objects being initialized, but if they were, it would create a infinite loop of SwerveDriveWheel object creations.
And finally, I think you have some misplaced accolades, as you have methods outside of classes.
I think if you fix those errors, it will compile and you can start debugging. If you need any extra tips I’d be happy to help!
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