Programming the Swerve Drive

[prensing]

There is also the yagsl library, but I have not used it myself.

Yet Another Generic Swerve Library (YAGSL) Beta

Hello World! YAGSL is a Generic Swerve Library (AN ACTUAL LIBRARY!) that aims to simplify the process of creating a comprehensive and complete SwerveDrive’s with best practices from MANY SwerveDrive examples. The documentation wiki is here. An example project is here. Library is here. Javadoc are here. Features: Second Order Kinematics with limited state-space estimation. Uses closed-loop PID exclusively. Dashboard for each swerve module. Support for both Falcon’s and Neo’s without chang…