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A library that seeks to provide a convenient swerve drive implementation for FRC teams.
Use a better course correction for AutonDriveSimple
than the current one which rotates the entire robot to stay on course (use strafing corrections instead)
check getMovementVector() in AutonDriveSimple - moving in the wrong initial direction could mess up a 180 degree turn
AutonDrive
doesn't add the SwerveDrive
subsystem as a requirement until the command is initialized
Implement the Sendable
interface so that swerve drive information can be more easily sent to the driver station
There should be a way to use AutoSwerveDrive
for field-relative robot control without needing to implement autonomous functions
fieldRelativeInputDrive doesn't apply deadbands to its parameters, but instead allows inputDrive from SwerveDrive to apply the deadbands from its input (from fieldRelativeInputDrive) and so the deadbands may not be applied properly
Add another method, related to inputDrive()
in SwerveDrive
, made specifically for using swerve drive with inputs that are generated through commands. This should be accompanied by the removal of maxOutput
in SwerveDrive
. In the new inputDrive()
method for auton, none of the following should influence the kinematics:
swerveDrivingSpeeds
InputHandler
This:
The RepositoryHandler.jcenter() method has been deprecated. This is scheduled to be removed in Gradle 8.0. JFrog announced JCenter's sunset in February 2021. Use mavenCentral() instead. Consult the upgrading guide for further information: https://docs.gradle.org/7.3.3/userguide/upgrading_version_6.html#jcenter_deprecation
at build_ew9wuayqslcivrun87nnfd7q3$_run_closure1.doCall(C:\all\programming\Robotics\Swerve Library\swervelib\build.gradle:16)
(Run with --stacktrace to get the full stack trace of this deprecation warning.)
In AutonDrive
and AutonDriveSimple
, speed is passed to the command as a double
through the constructor method. I believe AutonDrive
has an option to reduce the speed as the robot approaches the endpoint, but it’s clunky and only works so well.
Try to implement a system which allows a functional interface (taking proportion of distance to the endpoint as a parameter) to be passed in instead of a double
to AutonDrive
and AutonDriveSimple
.
Make sure to talk to me before you implement this, though—I’m not quite finished with setting up all the other systems which you’ll need before adding this functionality and I’d like to talk before anyone spends time working on this.
In AutonDrive,
a negative distance should make the SwerveDrive
drive in the opposite direction
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