The Swerve Drive JSON configuration file configures everything related to the overall Swerve Drive.
It maps 1:1
to SwerveDriveJson.java
which creates
a SwerveDriveConfiguration
that is used to create
the SwerveDrive
object.
Name | Units | Required | Description |
---|---|---|---|
maxSpeed | Feet Per Second | Y | Maximum robot speed in feet per second. |
optimalVoltage | Voltage | Y | Optimal voltage to compensate to and base feedforward calculations off of. |
imu | Device | Y | Robot IMU used to determine heading of the robot. |
invertedIMU | Boolean | Y | Inversion state of the IMU. |
modules | String array | Y | Module JSONs in order clockwise order starting from front left. |