This is a repository containing command-based swerve code to be used for each year. It is kept up to date every year.
This library depends on Beaverlib, which is kotlin FRC library co-developed by 5970 and 2898. Instructions on installation and usage can be found here!
For general coding, we use the following JVM:
- corretto-17.0.14, found in .jdks under user account
For simulation, we use the JVM that comes with WPILib each year:
- wpilib/(year)/jdk
In addition to having code for swerve drive, this project has other features:
- Music player that plays music via Kraken motors
- Child drive mode for outreaches
Information about setup and usage can be found on the wiki here!