🤖 4534 Swerve

Wired wizzards repository for a swerve drive robot.

Table Of Contents:

• Features
• Hardware
• Source Code

📝 Setup

✨ Features

Our swerve drive robot has the following features:

• Swerve drive
• Slow roatiational speed for precise turning
• Field centric drive (Via button input)
• Gyro correction
• PID control

🔧 Hardware

Our version of the source code has been modified to work with our hardware.

We use the following hardware for our swerve drive robot:

• 8x SPARK MAX motor controllers (Two per module, drive & turn)
• 8x NEO Brushless motors (Two per module, drive & turn)
• 4x CTRE CANcoder (One per module) acts as absolute encoder for the turn motor
• 1x NavX MXP (One per robot) acts as gyro for the robot to determine heading
• 1x T.Flight Hotas One (One per robot) acts as controller for the driver to control the robot

⏳ Source Code

Our swerve drive code is based on a youtube video from FRC 0 to Autonomous and their github repository.