4 Swerve and autos¶
4.1 Swerve (lecture)¶
Note
The lecture was updated to be much more comprehensive; if you’ve read it before the new slides were posted on Jan 17 please review the new version!
Further reading¶
Note that some of these have some irrelevant info. For example, we don’t need to implement the swerve drive control ourselves; Phoenix 6 includes a swerve drive control library that we use. I think I included the useful stuff in the revised version of the swerve lecture, so you probably don’t need to read all of this.
FRC#3487 D2.11 Beginner Swerve - slides
This was a design training, not a programming training, so some of it is irrelevant
4.2 PathPlanner swerve and autos (lecture)¶
Note
This lesson was based on 2024 Code Overview.