Disclaimer 🛑 - This codebase has bugs and forks should be using AdvantageJava2024 with built in advantage kit support!

https://github.com/WindingMotor/AdvantageJava2024

SwerveDrive2023 - FRC Team 2106

A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Fully working and updated for 2023. Designed for our 2023 Robot, Continuity, that features a elevator and grabber combo.

Pathplanner support is currently being removed for my own auto implementation

This part of the code is working:

Teleop control with Joysticks or an FPV Transmitter

Field Oriented control with PID

Command based auto with pathplanner

Photonvision basic april tag aligment

Elevator and grabber PID Code

Here is what is currently being worked on:

Auto commands

Advanced Phtonvision commands

Photonvision Odometry

GIFs