Swerve Basics
Goals:
- Understand how swerve works
- Teleop Interactions for existing swerve
- Reading odometry
- Reset/Initialize odometry
Success Criteria
- Use an existing Swerve configuration
- Add human inputs for teleop control
- Add basic PID input to a nearby position
- Point the bot at a specific heading
- Point the bot at a specific target
Understanding the tools
The Deploy folder
YAGSL for drive base
Odometry for basic location awareness and coordinate axes for Swerve
SwerveInputStream for compressed, streamlined control and management
#TODO Managing/muxing multiple inputs into a single drivetrain output
b-line for pathing?
.withTRatioBasedTranslationHandoffs(true)
PID To Pose?