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class SwerveDrive(gyroId: Int, frontLeftModule: SwerveModule, frontRightModule: SwerveModule, backLeftModule: SwerveModule, backRightModule: SwerveModule, canBus: CANBus = CANBus.roboRIO()) : SubsystemBase
Swerve drive subsystem managing four swerve modules and odometry.
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class SwerveModule(driveMotorId: Int, steerMotorId: Int, canCoderId: Int, val angleOffset: Rotation2d = Rotation2d())
Represents a single swerve module with drive and steer motors.