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Ctrl-Z FRC Team 4096 - Starter Swerve Code 2023

This codebase is for teams implementing swerve using python using 2023 libraries.

Overview

The code is written in Python 3, using the robotpy libraries. It uses a coroutine version of command-based.

Layout

  • /robot/robot.py - Boilerplate and subsystem initialization
  • /robot/oi.py - Joystick button bindings
  • /robot/const.py - Constants for swerve drive
  • /robot/subsystems - Subsystems
  • /robot/swerve - Python port of 364's Base Falcon Swerve
  • /robot/wpilibextra - Extra functionality on top of wpilib. Includes coroutine commands implementation, decorator based xbox controller wrapper, PIDD2 controller (unused), Remote repl, and dynamic view only robot object creator (unused).
  • /robot/remote_shell_ds.py - Client side of the remote repl tool. More info/usage at https://github.com/TheTripleV/robotpy-remoterepl

Questions?

Feel free to email us: [email protected]

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Starter code for swerve using python

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