Swerve-Simulation

A generic swerve simulator and swerve framework based on second order kinematics control.

• Resources Used

  • 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