See the online changelog for information about updates to this project.
FRC 4453 2024 swerve drivetrain
This project is built on Swerve Drive Specialties Mk4i modules, each with two SparkMax controllers and two NEOs, one for Drive motor and one for Turn motor. The absolute encoder is the CTRE Mag Encoder custom wired to a Rev Encoder Breakout board attached to the Data Port on the Turn SparkMax. Field relative capability is provide by a NavX MSP board connected to the RoboRio.
The Absolute Encoders are calibrated by setting the zero offset using the Rev Hardware Client. Zero is set the same for all modules to allow module replacement.
- SPARK MAX Firmware v1.6.2 - Adds features that are required for swerve
- REVLib v2023.1.2 - Includes APIs for the new firmware features
It is possible that this project will not work for your robot right out of the box. Various things like the CAN IDs, PIDF gains, chassis configuration, etc. must be determined for your own robot!
These values can be adjusted in the Constants.java file.