Swerve Drive

Technical
,
1

I am trying to build a swerve drive(first time in team history) and while building the odometer I encountered a problem

private final SwerveDriveOdometry odometer = new SwerveDriveOdometry(DriveConstants.kDriveKinematics,
            new Rotation2d(0));

when I wrote this code to setup the odometer I was informed that I had to add SwerveModuleStates. How could I add the swerve module states.

2

It wants a SwerveModulePosition[] array, use readings from your motors to construct the SwerveModulePositions

3

how do I get those readings

4

Have you tried looking into Swerve Libraries, like CTRE Tuner X or YAGSL?

5

From the encoders on each of your wheels.

6

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