Team 6238 has been working on a swerve drivebase this offseason, and we’re proud to share that it’s (mostly) working!
Here are our design files:
The bellypan was hand-fabricated, so we don’t have a CAD file for it.
Our code (YAGSL-based) is available on GitHub:
Feel free to ask us any questions here!
How was it working with YAGSL? 
To be honest, it’s been frustrating us for months. There’s no known-working configuration for our hardware, so messing with configuration to get it working was tough. It’s still not fully working, so if you’d like to help us debug, please send a private message to Josh @gdgr, one of our software mentors.
What isn’t working?
For a sec I thought you guys were mechanical advantage and I was so confused when I saw YAGSL; nice work though!
I saw this post, thought to myself: “Wow. Mechanical Advantage is making some changes” Then I double checked the number and still read 6328 then I read your post and finally understand that it is not 6328. Imagine if they were on a team together 
Octagons are cool and all but they’re sturdier when they’re milled from a single solid block of 7071 aluminum
maybe next year 
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