A base project for future robots that has code for swerve drive and PhotonVision AprilTag processing.
(NOTE: This project is in development, the working swerve base is made with the CTRE project generator and exists here: SwerveBase-CTRE.)
- Abstract IO for modules / gyros allowing for easy switching between real life, sim, and non-existing.
- Switching between NavX and Pigeon2.
- Device logging and data logging using SignalLogger, URCL, and Monologue.
- High frequency odometry thread for more accuracy.
- Automated pre-match self-check.
- Device configuration re-attempting.
- Device fault logging as telemetry for at-home testing.
- 254's Swerve Setpoint generator to prevent wheel slip.
- SysID routines for module turn motors and translation drive motors.
- A custom class for PhotonVision AprilTag processing featuring filtering methods and standard deviation calculation.
- Single-tag gyro-based disambiguation is part of the tag filtering.
- Wheel radius characterization (todo).
- Torque-current to voltage feedforward control for auton using Pathplanner/Choreo (todo).
- 2025 WPILib beta and other beta libraries (BIG todo)
- Team 1155 2024 Build Thread
- Team 1155 Swerve Base
- Team 3015 Code 2024
- Team 353 Code 2024
- CTRE Swerve API Odom Thread
- Team 6328 2023 and 2024 Build Threads (specifically interested in vision)
- Team 6328 2023 and 2024 Robot Code (specifically interested in vision)
- Team 5104 Vision SlideShow
(additional random notes for myself located in notes.md)