How to Program Swerve in Java

I currently don’t have access to wpi library. In the 2012 RobotDrive class, is the swerve drive method designed to be used with one motor for each wheel?

I’m sorry I do not have a programming answer for you, but yet a design question. Do you have any prior swerve experience in both construction and programming?

There is no swerve drive class. You have to write it yourself. Mr. Ether has a great white paper on it.

I’ve been programming on the team for the past two years, but I have a basic understanding of construction. What’s your question?

Wow thanks. I could program it, but I was wondering if there was an easy way. This will be a great help.