SwerveDrive Subsystem

Overview

The SwerveDrive subsystem is a sophisticated drive system that enables omnidirectional movement of the robot. It manages four swerve modules (each containing drive and turn motors), handles odometry calculations, and provides autonomous path-following capabilities.

Commands that use the subsystem

• DefaultDrive Command: Provides standard teleoperated control
• DriveFacingAngle Command: Maintains a specific robot heading while driving
• DriveFacingPose Command: Orients the robot to face a target position while driving
• Characterization Commands: Used for system identification and calibration

Configuration Requirements

Hardware Requirements

1. Four Swerve Drive Modules (Front Left, Front Right, Back Left, Back Right)
   • Each module requires:
     • Drive motor with encoder
     • Turn motor with absolute encoder
2. Gyroscope (NavX, Pigeon, or similar IMU)

Configuration in TunerConstants

All configuration is handled through TunerConstants, including: - Module configurations (gear ratios, conversions, PID values) - PathPlanner settings - Holonomic drive controller settings - Module positions and dimensions - Maximum velocity and acceleration limits - Drive characterization values (kS, kV, kA) - Wheel radius parameters - Absolute encoder offsets

See the JavaDoc Reference for detailed configuration options.

Additional Notes

• Odometry updates run on a separate high-frequency thread
• Vision measurements can be incorporated for pose estimation
• Supports both teleop and autonomous operation
• PathPlanner integration for autonomous path following
• Built-in system identification capabilities for tuning