I am a new programmer this year and while I was on our team last year I was busy and gained little experience. Last year was our first year with a swerve drive using Talon SRXs and was made by our previous programmer who moved away and cannot help much. This year our team switched to using SPARKmax’s with neo motors for driving and brushed motor for turning. I have attempted to port our code from last year to something usable with SPARKmax but have had very little success in even understanding most things involved with swerve as I am also new to programming in general much less PIDcontrollers and other stuff. I just came here to ask if anyone can help me be able to make a working swerve drive. - I can provide code if needed but it might not be much help.
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If you’re rewriting swerve code this late in the season, it might be worth looking into YAGSL for something a little quicker to set up.
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Adding on to this, YAGSL has a docs page relating to the basics of programming swerve and goes in detail of how everything works (kinematics, odometery, translation, etc.)
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