Hey, I’m the lead programmer from my team, The Railroader Robots, and this is our first year doing swerve drive. We used to do tank drive primarily and a majority of my programming knowledge comes from there, hence why I’m reaching out for help. I understand how swerve drive works as a whole and even have a solidly working swerve drive that functions pretty smoothly, but I’m having a hard time translating it and my other subsystems into commands and different autons. All of the “examples” that I’ve looked at before have confused me quite a bit, and I don’t exactly know where to start for implementing commands and creating autons. Also, I’ve been trying to figure out how to integrate and use PathPlanner too, mainly because I’ve heard good things about it from some of my programming friends and from the community too. So, if any of you out there are experts or a lot about auton and commands for swerve drive, I’d love to get advice on where to start and maybe some examples that have notes in them. Thanks a bunch in advance!
What is your swerve drive? I can help you with your swerve programming
As well as, I highly recommend you to watch the 0 to Autonomous videos about the swerve, that video helped me a lot to code my swerve drivetrain
Here’s my repository for my code. Sorry it took so long. It was my first time making one on GitHub.
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