A base project for future robots that has CTRE generated swerve drive code and Photon Vision AprilTag processing.
- Swerve drive code using CTRE's swerve generator.
- Device logging with SignalLogger and data logging with Epilogue and DogLog.
- Device Fault Logging as telemetry for at-home testing. These faults are also logged with DogLog for post-match review.
- Pre-match self-check with custom self-check commands.
- A custom
VisionPoseEstimatorclass that reads from a Photon Vision camera and updates the swerve pose estimator with filtered and disambiguated AprilTag vision measurements. - Automated wheel radius characterization routine (based on 6328's wheel characterization).
- Choreo support.
- At the start of each season, this project should be re-imported in the season's wpilib release for any additional updates.
- After that, since this project is a template on github, the actual season's robot code repo can be generated from this template:
