xdytfchbjn m

src/main/deploy/swerve/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}

src/main/deploy/swerve/modules/backleft.json

@@ -0,0 +1,26 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  }
+}

src/main/deploy/swerve/modules/backright.json

@@ -0,0 +1,26 @@
+{
+  "location": {
+    "front": -12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  }
+}

src/main/deploy/swerve/modules/frontleft.json

@@ -0,0 +1,26 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": 12.375
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  }
+}

src/main/deploy/swerve/modules/frontright.json

@@ -0,0 +1,26 @@
+{
+  "location": {
+    "front": 12.375,
+    "left": -12.375
+  },
+  "absoluteEncoderOffset": 0,
+  "drive": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 0,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 0,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  }
+}

src/main/deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,20 @@
+{
+  "wheelDiameter": 4,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "gearRatio": {
+    "drive": 8.14,
+    "angle": 21.43
+  },
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  },
+  "encoderPulsePerRotation": {
+    "drive": 1,
+    "angle": 1
+  }
+}

src/main/deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/swerve/swervedrive.json

@@ -0,0 +1,16 @@
+{
+  "maxSpeed": 12,
+  "optimalVoltage": 12,
+  "imu": {
+    "type": "navx",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}

src/main/java/frc/robot/subsystems/Drive.java

@@ -5,14 +5,31 @@
 package frc.robot.subsystems;
 
 import java.io.File;
+import java.io.IOException;
 
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import swervelib.SwerveDrive;
+import swervelib.parser.SwerveParser;
+
 public class Drive extends SubsystemBase {
+  SwerveDrive swerveDrive;
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
  
+  public void drive(double x, double y, double zRotation){
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, true);
+  }
+  
+
   /** Creates a new Drive. */
-  public Drive() {}
+  public Drive() {
+    try {
+      this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+  }
 
   @Override
   public void periodic() {