This is the command-based swerve code for 5970, using the swerve library YAGSL. This project includes the following:
- Swerve
- Vision
- Swank (Swerve-tank)
- Swar (Swerve-car), and FS-Swar (Foursteer-swerve-car)
- Additional "child mode" drive command
- Example pneumatics subsystem
Updating beaverlib
In order to update beaverlib, you can either update it in the terminal with this:
git submodule update --init --recursive --remote
Or you can update it in Intellij IDEA by clicking on branches in the top-left, then selecting beaverlib and updating it.
Reinstalling beaverlib
To fix beaverlib not showing up or updating, you can delete the beaverlib folder
then reinstall it with the following function:
git submodule add https://github.com/beavertronics/beaverlib.git ./(path from root of project)
For us specifically, the full command is:
git submodule add https://github.com/beavertronics/beaverlib.git ./src/main/kotlin/beaverlib
JVM: corretto-17.0.14, found in .jdks under user account JVM: consider WPI jdk for simulation which is under wpilib/(year)/jdk
- Instructions on Swerve setup
- Information on Swank
- Information on Swar and FS-Swar
- [Information on child mode]