swervebot

Code for the ESHS P.O.T.A.T.O.E.S. swerve drive test platform.

Class overview

To-do list

1. Make a teleop command to convert input from the InputSubsystem into calls to DriveSubystem.drive.
2. Tweak the PID constants until the robot manuvers smoothly.
3. Measure the real values for the Chassis length and width (from the center of the wheels) and replace lines 65 and 70 of Constants.java.

Xbox controller

1. Drive forward and back with the left joystick's vertical channel.
2. Strafe left and right with the left joysticks's horizontal channel.
3. Turn with the right joystick's vertical channel.

One joystick

1. Drive forward and back with the joystick's vertical channel.
2. Strafe left and right with the joysticks's horizontal channel.
3. Turn with the joystick's twist channel.