# Yet Another Generic Swerve Library (YAGSL) Example project YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most square swerve drives. The project is documented on [here](https://github.com/BroncBotz3481/YAGSL/wiki). The JSON documentation can also be found [here](docs/START.md) This example is intended to be a starting place on how to use YAGSL. By no means is this intended to be the base of your robot project. YAGSL provides an easy way to generate a SwerveDrive which can be used in both TimedRobot and Command-Based Robot templates. # Overview ### Installation Vendor URL: ``` https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json ``` [Javadocs here](https://broncbotz3481.github.io/YAGSL/) [Library here](https://github.com/BroncBotz3481/YAGSL/) [Code here](https://github.com/BroncBotz3481/YAGSL/tree/main/swervelib) [WIKI](https://github.com/BroncBotz3481/YAGSL/wiki) [Config Generation](https://broncbotz3481.github.io/YAGSL-Example/) # Create an issue if there is any errors you find! We will be actively montoring this and fix any issues when we can! ## Development * Development happens here on `YAGSL-Example`. `YAGSL` and `YAGSL-Lib` are updated on a nightly basis. # Support our developers! ### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below: ```text deploy └── swerve ├── controllerproperties.json ├── modules │   ├── backleft.json │   ├── backright.json │   ├── frontleft.json │   ├── frontright.json │   ├── physicalproperties.json │   └── pidfproperties.json └── swervedrive.json ``` ### Then create your SwerveDrive object like this. ```java import java.io.File; import edu.wpi.first.wpilibj.Filesystem; import swervelib.parser.SwerveParser; import swervelib.SwerveDrive; import edu.wpi.first.math.util.Units; SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(),"swerve")).createSwerveDrive(Units.feetToMeters(14.5)); ``` # Migrating Old Configuration Files 1. Delete `wheelDiamter`, `gearRatio`, `encoderPulsePerRotation` from `physicalproperties.json` 2. Add `optimalVoltage` to `physicalproperties.json` 3. Delete `maxSpeed` and `optimalVoltage` from `swervedrive.json` 4. **IF** a swerve module doesn't have the same drive motor or steering motor as the rest of the swerve drive you **MUST** specify a `conversionFactor` for BOTH the drive and steering motor in the modules configuration JSON file. IF one of the motors is the same as the rest of the swerve drive and you want to use that `conversionFactor`, set the `conversionFactor` in the module JSON configuration to 0. 5. You MUST specify the maximum speed when creating a `SwerveDrive` through `new SwerveParser(directory).createSwerveDrive(maximumSpeed);` 6. IF you do not want to set `conversionFactor` in `swervedrive.json`. You can pass it into the constructor as a parameter like this ```java double DriveConversionFactor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(WHEEL_DIAMETER), GEAR_RATIO, ENCODER_RESOLUTION); double SteeringConversionFactor = SwerveMath.calculateDegreesPerSteeringRotation(GEAR_RATIO, ENCODER_RESOLUTION); SwerveDrive swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, SteeringConversionFactor, DriveConversionFactor); ``` ### Falcon Support would not have been possible without support from Team 1466 Webb Robotics! # Configuration Tips ### My Robot Spins around uncontrollably during autonomous or when attempting to set the heading! * Invert the gyro scope. * Invert the drive motors for every module. (If front and back become reversed when turning) ### Angle motors are erratic. * Invert the angle motor. ### My robot is heavy. * Implement momentum velocity limitations in SwerveMath. ### Ensure the IMU is centered on the robot # Maintainers - @thenetworkgrinch - @Technologyman00 # Special Thanks to Team 7900! Trial N' Terror Without the debugging and aid of Team 7900 the project could never be as stable or active as it is. # YAGSLDriveBase