Swerve Drive

Swerve Drive (`swervedrive.json`)

The Swerve Drive JSON configuration file configures everything related to the overall Swerve Drive. It maps 1:1 to SwerveDriveJson.java which creates a SwerveDriveConfiguration that is used to create the SwerveDrive object.

Name Units Required Description

Name	Units	Required	Description
`imu`	Device	Y	Robot IMU used to determine heading of the robot.
`invertedIMU`	Boolean	Y	Inversion state of the IMU.
`modules`	String array	Y	Module JSONs in order clockwise order starting from front left.

imu

Robot IMU used to determine heading of the robot.

invertedIMU

Boolean

Inversion state of the IMU.

modules

String array

Module JSONs in order clockwise order starting from front left.

Last updated 3 months ago