Malefix/xyz.malefic.frc.extension/swerveDrive

swerveDrive

fun swerveDrive(gyroId: Int, canBus: CANBus = CANBus.roboRIO(), block: SwerveDriveBuilder.() -> Unit): SwerveDrive

Creates a swerve drive subsystem with a DSL for module configuration.

Usage Example:

val drive = swerveDrive(gyroId = 0) {
    modules(
        frontLeft = module(1, 2, 3, Rotation2d.fromDegrees(0.0)),
        frontRight = module(4, 5, 6, Rotation2d.fromDegrees(90.0)),
        backLeft = module(7, 8, 9, Rotation2d.fromDegrees(180.0)),
        backRight = module(10, 11, 12, Rotation2d.fromDegrees(270.0))
    )
    config {
        trackWidthMeters = 0.6
        wheelBaseMeters = 0.6
        maxLinearVelocityMPS = 4.5
    }
}