Hey everybody, I thought you-all might be interested in this thing I made, Swervo, which is a low-cost swerve base for off-season controls training. I tried to make it as simple as possible, in both hardware and software: it uses servos for driving and steering, and the software is pretty close to the example “swervecontrollercommand” thing that wpilib comes with. I implemented aiming-point logic as a trajectory constraint, which seemed like the simplest way to do it.
I’m happy to answer any questions, take pull requests, etc.