SwerveDrive Library

A Java library for controlling swerve drive robots, particularly designed for FRC (FIRST Robotics Competition) robots. This library provides precise control over wheel movements, handling both translation and rotation simultaneously.

Overview

Swerve drive is a sophisticated drive system that allows robots to move in any direction while simultaneously rotating. Each wheel can pivot independently and control its speed, providing exceptional maneuverability.

Features

• Field-oriented driving support
• Independent wheel control
• Vector-based movement calculations
• Built-in optimization for wheel angles
• Support for custom communication interfaces
• Automatic wheel speed normalization

Installation

Add these dependencies to your build.gradle:

dependencies {
    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.3.2'
    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.3.2'
    compileOnly 'org.projectlombok:lombok:1.18.30'
    annotationProcessor 'org.projectlombok:lombok:1.18.30'
}

Usage

1. Configure Your Wheels

First, create your wheel configuration:

// Create wheel movers (implement the WheelMover abstract class for your hardware)
WheelMover frontLeft = new YourWheelMover();
WheelMover frontRight = new YourWheelMover();
WheelMover backLeft = new YourWheelMover();
WheelMover backRight = new YourWheelMover();
// Define wheel positions relative to robot center
Wheel[] wheels = new Wheel[] {
    new Wheel(new Vec2(1, 1), frontLeft, 1), // Front Left
    new Wheel(new Vec2(-1, 1), frontRight, 1), // Front Right
    new Wheel(new Vec2(-1, -1), backLeft, 1), // Back Left
    new Wheel(new Vec2(1, -1), backRight, 1) // Back Right
};

2. Create SwerveDrive Instance

// Create your publisher implementation
IPublisher publisher = new YourPublisher();
// Create config
Config config = new Config(publisher, wheels);
// Initialize SwerveDrive
SwerveDrive drive = new SwerveDrive(config);

3. Control Your Robot

// Drive with velocity and rotation
Vec2 velocity = new Vec2(1.0, 0.0); // Move forward
double rotationCoefficient = 0.5; // Rotate at half speed
double speedMultiplier = 1.0; // Full speed
drive.drive(velocity, rotationCoefficient, speedMultiplier);
// For field-oriented drive, include gyro angle
double gyroAngle = yourGyro.getAngle();
drive.drive(velocity, gyroAngle, rotationCoefficient, speedMultiplier);
// Drive towards a specific point
Vec2 target = new Vec2(5.0, 3.0);
double speed = 0.8;
drive.driveTowards(target, speed, rotationCoefficient);

Key Components

Vec2

A 2D vector class that handles vector operations including:

• Vector addition/subtraction
• Rotation
• Normalization
• Polar coordinate conversion

WheelMover

Abstract class for controlling individual wheels. Implement this for your specific hardware:

public abstract class WheelMover {
    public abstract void drive(double angle, double speed);
    public abstract double getCurrentAngle();
}

IPublisher

Interface for publishing robot data:

public interface IPublisher {
    void publish(String topic, Object data, Class<?> type);
}

Contributing

Contributions are welcome! Please feel free to submit pull requests.

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.