Phoenix 6 Based Swerve Sim!

FIRST General Forum
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Hey There!

Working on our Phoenix6 Based Swerve (well… L3 Mk4is) and updating from Phoenix5.

I was curious if anyone has any recommendations of starter projects to work reference when doing this? I guess the biggest difference is the ‘Rotations’ units and some of the signal changes.

Another thing I’m curious recommendations for Swerve Sim Examples? I’d love to at least somewhat simulate the swerve system (maybe somewhat of a realistic acceleration), but haven’t figured out a good way to put it in.

Any ideas?

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CTRE has some example projects, but the Phoenix 6 Migration Guide is very good at explaining most major differences. As far as swerve sim goes, PhotonVision has one (albeit not using Phoenix but the logic/dataflow/etc is correct).

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