Dominic Canora dc74089
dc74089
/ DriveSubsystem.java
Created
February 20, 2021 17:36
1902's "minimum viable" swerve drive code... You probably won't be able to copy/paste this whole thing into your own project, but the logic, functions, and structure in this file has worked for us to drive in tele-op.
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| package frc.robot.subsystems; | |
| import com.revrobotics.CANSparkMax; | |
| import com.revrobotics.CANSparkMaxLowLevel; | |
| import com.revrobotics.ControlType; | |
| import edu.wpi.first.wpilibj.geometry.Translation2d; | |
| import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; | |
| import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics; | |
| import edu.wpi.first.wpilibj.kinematics.SwerveModuleState; | |
| import edu.wpi.first.wpilibj2.command.SubsystemBase; |
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| float x, y, speedX, speedY; | |
| float diam = 10; | |
| float rectSize = 200; | |
| void setup() { | |
| fullScreen(); | |
| fill(0, 255, 0); | |
| reset(); | |
| } |