Package yams.core.mechanisms.swerve

package yams.core.mechanisms.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.

Joystick input streams live in the command layers: yams.commands2.swerve.SwerveInputStream and yams.commands3.swerve.SwerveInputStream.

Related Packages

Package	Description
yams.core.mechanisms	Top-level mechanism abstractions for the YAMS (Yet Another Mechanism System) library.
yams.core.mechanisms.config	Builder-style configuration classes for every mechanism in the YAMS library.
yams.core.mechanisms.positional	Position-controlled mechanism implementations for the YAMS library.
yams.core.mechanisms.velocity	Velocity-controlled mechanism implementations for the YAMS library.

Classes

Class	Description
SwerveDrive	Swerve Drive mechanism.
SwerveModule	Swerve Module
SwerveModuleVelocityWithAzimuth	A SwerveModuleVelocity that also holds how fast the wheel is turning: the angular velocity of the azimuth.