We’ve been having issues with finding reference code for the swerve drive. A lot of the codes that teams share are solely for all Falcons or all Neo’s, but we have both Falcons and Neo’s (Falcons as drive motors and Neo’s as angle motors). Does anyone have any resources for a swerve drive with a similar set up to ours?
We had thirty swerve with 550s for steer and falcons for drive . The code is in the Waltonrobotics GitHub rapid react repository. We started with somebody else code, but I don’t remember whose. Hope this helps.
The 2021 swerve test bed repository has mostly just the swerve code.
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Our code for Falcon/TalonFX Neo/SparkMAX swerve is in our GitHub repo. Feel free to let me know if you have any questions.
There really isn’t anything largely different from running both drive and steer on SparkMAXs or TalonFXs.
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