Generic Swerve Library

nstrike · January 27, 2023, 6:11pm

I am wondering if theres already a library out there that has everything you need with easy configuration (preferably with JSON files) that works with both Neo’s and Falcon’s, Thorough Bores, CANCoders, and Thrifty Absolute Encoders in any combination without using over 20% of the CPU.

Full disclosure I am close to releasing mine but it still has bugs at the moment , should I call it Generic Swerve Library (GSL) or Yet Another Swerve Library (YASL)

Fletch1373 · January 27, 2023, 6:13pm

Definitely YAGSL

Huskie65 · January 27, 2023, 6:19pm

I’ve been surprised how many of these libraries don’t allow for use of CANivore natively, as running 8 falcons and 4 CANcoders is already enough to nearly require it. Hope yours does lol

Fletch1373 · January 27, 2023, 6:20pm

There’s a lot of swerve implementations out there that dont require 8 falcons

nstrike · January 27, 2023, 6:41pm

I built that out originally, but I am focusing on getting my Neo implementation to work fully (right now I am tuning) before I attempt to completely support Falcons. I found out yesterday that somehow my code still works when the CANBus doesn’t work and some modules were missing, somehow . So far i have initialization down to 1 line and 5 JSON files. If you’re curious I am working off of this branch right now.

github.com

BroncBotz3481/FRC2023Swerve/blob/robust/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java#L134


      
          //                              DriveConstants.kTeleDriveMaxAccelerationUnitsPerSecond,
          //                              DriveConstants.kTeleDriveMaxAngularAccelerationUnitsPerSecond,
          //                              false);
          //    System.out.printf("MaxSpeedMPS: %f\nMaxDriveAcceleration: %f\nMaxAccelerationMPS:
          //    %f\nMaxAngularAccelerationRPS: %f",
          //                      DriveConstants.kPhysicalMaxSpeedMetersPerSecond,
          //                      DriveConstants.kTeleDriveMaxAccelerationUnitsPerSecond,
          //                      DriveConstants.kTeleDriveMaxAccelerationUnitsPerSecond,
          //                      DriveConstants.kTeleDriveMaxAngularAccelerationUnitsPerSecond);
          
          
    m_drive = SwerveParser.fromJSONDirectory(new File(Filesystem.getDeployDirectory(), "swerve"));
              m_drive.zeroGyro();
              m_drive.setDeadband(0.1);
              // m_drive.setPIDF(0.01, 0, 0, 0, 0, ModuleMotorType.TURNING); // TODO: Change PIDF here.
              // m_drive.setPIDF(0.1, 0, 0, 0, 0, ModuleMotorType.DRIVE); // TODO: Change PIDF here.
          
          
    SmartDashboard.putData(m_drive);
          
          
  }
          
          
  /**

I only have a Neo MK4 drive to test with though.

half_ton_hero · January 27, 2023, 7:58pm

We are just now getting into the swerve game. What other libraries like this exist? A quick site search didn’t result in anything immediately meaningful.

Hollisms · January 27, 2023, 8:05pm

Huskie65 · January 27, 2023, 8:42pm

GitHub - Team364/BaseFalconSwerve

Of those, this is one of the simplest and cleanest I’ve found. Pretty popular suggestion from others as well.

nstrike · January 29, 2023, 6:23pm

I just got it working in the air for my teams bot with a bad SDS module, I will write up some documentation, tutorials, and clean up the example on how to use it. Probably wont put it in a vendordep yet but maybe soon! My library is completely configurable via JSON files and has a 1 line initialization and is simulation compatible. I want to implement advantagekit but that seems like it’s more effort than its worth for now.

nstrike · January 31, 2023, 3:02am

Released here Yet Another Generic Swerve Library (YAGSL) Beta

nstrike · February 24, 2023, 5:58am

I was legitimately planning on changing the name a few weeks ago but I guess I am stuck with it now

nstrike · December 22, 2023, 5:16pm

I just want to remind you of the cursed name you came up with almost a year later. Merry Christmas!

Fletch1373 · December 22, 2023, 5:48pm

As a software engineer, naming things (terribly) is kind of a specialty.

nstrike · December 22, 2023, 9:44pm

coming soon “Yet Another Swerve Document”