thegamer1002 / yagsl

Yet Another General Swerve Library

Yet Another Generic Swerve Library

• In early 2023 swerve-lib created by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022.
• This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power.

Features

• The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following.
• Simulation support.

import edu.wpi.first.math.util.Units;

SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(),"swerve")).createSwerveDrive(Units.feetToMeters(14.5));

• The library is located in swervelib/ with documentation in docs/ and example JSON in deploy.
• Support for NetworkAlerts for use in Shuffleboard.

Discussions

• Latest resources and features will be posted on the discusions page here.

Library Information

Installation

• Install NavX Library
• Install Phoenix Library
• Install REVLib.
• Install ReduxLib.
• Install YAGSL (https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json)

Easy Configuration File Generation

Check out the Wiki

Java docs is here.

Images

Falcon Video

swerve_falcons_fix.mov

Neo Video

swerve_neos.mp4

Special Thanks to Team 7900! Trial N' Error

Without the debugging and aid of Team 7900 the project could never be as stable or active as it is.

Special Thanks to Team 6238! Popcorn Penguins!

Without their hardwork debugging the issue with feedforwards the 2024 release would not have been possible. Thank you!

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