Help with WPILib Swerve Odometry and Trajectory Config using SDS Template Code

Technical Programming
1

We’ve been attempting to create an odometry system using SDS’s swerve lib, but we appear to be hitting a wall regarding the SwerveModulePosition. Using template code, it appears that we are able to get Drive Velocity and Steer Angle, but nothing that would equate to a position. Is there anything we’re missing, or a way to bypass this.

We reach a secondary issue when it comes to using the Trajectory Config to build our autonomous system. The template code doesn’t provide any acceleration, so we were wondering if there was a way to calculate it using the constants that are provided, or if robot characterization is the way to go about it.

2

The SDS library is no longer maintained and wasn’t updated to the 2023 WPILib API. You could modify one of these instead:

You can calculate acceleration via a backward finite difference if you need to ((current velocity - last velocity) / time between velocity samples).

3

For the second Base Code you sent, the one by team 7461, how do you find the offset values

4

The same way you do for any swerve drive. Print out the encoder values when the modules are pointing forward.