Package yams.commands2.swerve

package yams.commands2.swerve
Swerve drive mechanism classes.

SwerveDrive is a full swerve-drive implementation with integrated kinematics, odometry, and pose estimation. Each wheel is represented by a SwerveModule backed by two SmartMotorController instances (drive and steer).

Configure the full drivetrain via SwerveDriveConfig and each module via SwerveModuleConfig.

SwerveInputStream converts driver controller axis suppliers into ChassisVelocities for SwerveDrive.

See Also:
  • Classes
    Class
    Description
    SwerveDrive
    Command-based extension of SwerveDrive that adds the Subsystem binding and Command factories.
    SwerveInputStream
    Helper class to easily transform controller inputs into workable chassis speeds.