How can I learn how swerve works and how to code swerve drive as individual?

Technical
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1

I’m not in any team currently, but I want to learn how swerve works and how to code swerve drive. I looked up for “0 to Autonomous” and at first watch, I didn’t understand anything. Should I consider watching it again?

Is there any videos/documentaries/playlist you can provide? And if you learned individually too, how did you do it?

2

I would recommend struggling. You can download WPILib and read it’s swerve related docs and write a codebase to teach yourself. Use simulation and ctre motors to test it.

3

I think I’ll do that, thanks for the advice.

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4

FYI, YAGSL Has swerve simulation in the example repository here. I also document in addition to wpilib how a swerve drive works. (I HEAVILY rely on WPILib though so they’re best learned together.)

5

Short answer - yes.

Critically,

This statement is a reflection of your feelings for sure, but it won’t be literally true. More specifically, you didn’t understand enough to feel like you had moved the needle - that’s often a reaction to seeing something complex for the fist time.

The big skill to curate, and what to try doing in this case: As best you can, articulate what you did understand, and where you stopped understanding. Try to draw that line in as many focused areas as you can - that’s how you form good questions to ask (or google), which in turn is how you move that line forward.

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6

PurpleLib is also open-source, feel free to use it for your learning.

We have some examples to go along with it.

7

I see the video #0 to Autonomous# has a box alluding to some calculations that you do not need to know if you use the swerve libraries that are commonly available and mentioned in your thread. Long ago I compiled some CD posts and presentations mostly by Ether and Baker and put together the attached document of those calculations because when I did it teams wrote their own code before it was available in libraries. The calculations involve all levels of high school math and I’m sure your teachers or mentors can explain it but again - you don’t have to know this stuff to use the libraries. The document is a little rough and I haven’t had time to improve it especially now that it’s almost all in a library for your easy use.
BeginningSwerveCalculations.pdf (715.6 KB)