repository·main·Indexed 41 days ago
https://github.com/yet-another-software-suite/yagsl_oldA library for FRC robots designed to simplify Swerve Drive implementations using JSON-based configuration and built-in simulation support. Features the SwerveParser for initializing SwerveDrive instances and supports integration with NavX, Phoenix, REVLib, and ReduxLib.
Instead of writing JSON configuration files manually, you can use the Easy Configuration File Generation tool to create the necessary files for your swerve drive setup.
Visit the generator here: https://broncbotz3481.github.io/YAGSL-Example/
To use YAGSL, you must ensure the following libraries are installed in your project:
https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json)YAGSL allows you to initialize a complete swerve drive system using a JSON configuration file. This is done via the SwerveParser, which reads a configuration directory and returns a SwerveDrive instance. You must provide the field dimensions (in meters) to the createSwerveDrive method.
Configuration files are typically located in the robot's deploy directory.
import edu.wpi.first.math.util.Units;
SwerveDrive swerveDrive = new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve")).createSwerveDrive(Units.feetToMeters(14.5));