Yet Another Generic Swerve Library

• In early 2023 swerve-lib created by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022.
• This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power.

Features

• The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following.
• Simulation support.

SwerveDrive swerveDrive = new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve")).createSwerveDrive();

• The library is located in swervelib/ with documentation in docs/ and example JSON in deploy.

Discussions

• Latest resources and features will be posted on the discusions page here.

Library Information

Installation

• Install NavX Library
• Install Pheonix Library
• Install REVLib.
• Install YAGSL (https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json)

Easy Configuration File Generation

Check out the Wiki

Java docs is here.

Images

Falcon Video

swerve_falcons_fix.mov

Neo Video

swerve_neos.mp4