Autonomous Swerve Driving

[ThePhoenixFox]

Requirements:

• [x] Able to set paths from the relative position
• [x] Able to set paths from an absolute position (Optional)
• [x] Able to leave starting area
• [x] Testable (Tuning)
• [x] Able to throw note(s) during auto
• [x] Able to pick up note(s) during auto (Optional)

Documentation: https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-odometry.html https://docs.wpilib.org/en/stable/docs/software/pathplanning/trajectory-tutorial/index.html https://docs.wpilib.org/en/stable/docs/software/pathplanning/pathweaver/index.html

API: SwerveControllerCommand(frc::Trajectory trajectory, std::function<frc::Pose2d()> pose, frc::SwerveDriveKinematics<NumModules> kinematics, frc::PIDController xController, frc::PIDController yController, frc::ProfiledPIDController<units::radians> thetaController, std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output, Requirements requirements = {}) https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_swerve_controller_command.html

Example: https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand

[ThePhoenixFox]

New library used for auto: Pathplanner Documentation Currently, issues loading files to deploy directory. List for auto:

• [X] Incorporate Pathplanner
• [ ] Deploy autos for match
• [ ] Able to move based on autos
• [ ] Able to active commands Extra:
• [ ] Pathfind for feeder station and note dropoff