Skip to content

Latest commit

 

History

History
20 lines (17 loc) · 1.46 KB

swervedrive.md

File metadata and controls

20 lines (17 loc) · 1.46 KB

Swerve Drive (swervedrive.json)

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.

JSON Fields

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.