Work done during summer 2023 on an example swerve API featuring 3D visualization (AdvantageScope), control based on second-order kinematics, and an unfinished simulator (see below). The project is based on WPILib version 2023.4.3.
- Most interface/utility classes are complete and could be used as a base for driving an actual swerve base, however, the general driver/container class is unfinished. The simulator is theoretically functional but not fully tested. Due to time limitations of this project/repo, further development of the simulation can be found here.
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- Swerve base CAD (onshape)
- SDS MK4i page (for CAD specs)
- AdvantageScope Docs
- AdvantageScope 3d field docs
- AdvantageScope custom configurations (robot models)
- AdvantageScope converting CAD to glTF
- WPILib coordinate systems
- WPILib state-space control
- WPILib physics simulation (state-space model)
- WPILib Swerve Kinematics
- WPILib Swerve Odometry
- Advanced Kinematics Tuning --> Relevant Whitepaper
- Rigid Body Dynamics - Wikipedia