Swerve Drive

This is the next step for our team’s drive base, and it will present the most difficult set of software skills you will likely encounter in software up to this point.

Swerve demands a lot from software, namely requiring many of you to finally become acquainted with hardware, as it’s fundamental to grasping how swerve properly works. As you remember from Differential Drive, we were very handwavy saying “it does some trig lol”. Swerve requires a much deeper understanding of the hardware, as it’s not a joke to implement.

Without any further adieu, follow the links beneath to get started.

• Introduction
• Implementation
• Field Oriented Drive
• Code
• Demo
• Tips