My team is trying to simulate a swerve drive, but we’re having trouble getting started. Our swerve drive code is based off of the MAXSwerveModule Java Template, but with several modifications.
This year, we changed to Krakens, but we don’t know how much it will affect the code. We are also using NavX for our gyro. Additionally, we want to simulate our code using AdvantageScope and test our autonomous paths through PathPlanner simulations. We are planning on changing our swerve code based on the simulation code. If anyone can give any guidance that would be highly appreciated!
Even when you do all of that you may not have the same programmers next season or the following season but YAGSL will still be maintained and up to date with optimizations that take a season or 2 to learn about and implement.
YAGSL is also agnostic to your current program and you can drop it in however you see fit, you don’t need to use our example code!
However you don’t need it! You can absolutely read the code and implement everything yourself and nothing is stopping you except time.
MAXSwerve is finicky with YAGSL bc the neo550’s + sparkmax with attached throughbores require the usage of the zero tool in the hardware client and won’t work via JSON like everything else unless you use SwerveDrive.pushOffsetsToEncoders().
could you elaborate on this? krakens have built in motor controllers, you cant control them with spark max motor controllers. even if you could use spark maxes, i would recommend not to. there are many benefits to the talonFX controllers built into the krakens