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swerve-base

Welcome to the swerve-base wiki. Here I will explain:

1. Swerve Drive and it's general overview, and then an in depth look at the SwerveModule class, which respresents each individual module, the Swerve class, which takes all four modules and makes them work together, and finally the TeleopSwerve command which moves joystick inputs to the Swerve chassis. I will also go over the CTREConfigs settings and explain what they do, as well as the actual SwerveSettings. The settings themselves already have comments, but this will give a more in depth explanation on what is actually happening.

2. An explanation of the bd_utils directory, which includes some custom classes and systems that the team would have highly enjoyed last year. Moreover, an explanation of how they work so they are easily editable in the future.

Authors of the code are Aidan and Dave
Author of this wiki is Dave