swerve

Library for Swerve Math and Utilities.

Notable Files

• conversion - All the conversion VIs we use (our units are in ft/s and degrees for the pod setpoints which get converted to raw motor units)
• ctl - All of the typedefs we use to standardize the data
• hardware - All of our hardware utilities used for a robot project implementation (see swerve-template for an example)
• math - Contains the lower level math for inverse kinematics, pod optimizations, field centric, and forward kinematics
• test - Test code and simulations to test and demo the library's functions. See Inverse Kinematics Test