FRC 0 to Autonomous: #6 Swerve Drive Auto 

This is an EXCELLENT description and code walk-through. I'm sure it tool a lot of time to create, so thank you very much. As the team's Software Coach, I'm going to put it to great use. I'm going to make this a "must view" for my software team.

beautiful video, amazing diagrams and explanations of everything, tysm 🙏

You have helped our team so much thank you!

I'm impressed by the code you made!!!

It is our first year using a swerve module, so I am really hyped but at the same time confused on how to code it. this video helped a ton! Thanks from team 6738 Excalibur :D

Awesome!!!! Characterization and Pathweaver tutorial next?!??!

Great work!!!

How do we find constant values for our specific modules?

Great video series. Looking at the code, it appears that you don't invert the NavX2.0 heading (NavX 2.0 has CCW being negative)? We always want CCW to be positive correct? (with regards to encoders and gyros, right?) Is this accounted for somewhere else or am I mistaken on the positive CCW notation?

hey so were using an Xbox controller and I watched your command base videos and I was wondering do I still use the joystick one or do I have to use a different import?

Thank you sir!

your stuff is really good!!! if you have more you can share and I'll see them all! What my opinion would you be more to implement your best implementation model, not your opinion what my opinion would be more to implement your model? as I'm new I can get more information in the initial videos. Congratulations on the stuff!

How do I find the swerve simulation instead of the tank drive?

Awesome video! How would this work with an Xbox controller instead of a joystick?

So our team is using a CTRE CANcoder, and the code for the rev can encoder is not the same, what code should i use instead for our encoder?

It would have been nice to see some more theory about the base kinematics instead of just the practical implementation with the SwerveDriveKinematics class abstracting away the fun.

thanks a ton!!!!!

When are you planning to post the next 0 to autonomous video?

Thanks for this great tutorial! I still have one question though. how do you set the wheels to face forward at the start of autonomous? I'm planning to use color and or distance sensors to get it to read the position at the start of autonomous. but surely there has to be a better way than by hand, right?

What absitleEmcoder are you using

Excellent Tutorial! I found it very informative and gives me much to think about when making the jump to trajectory based autonomous over the drive, stop, turn , drive sequence method. Some constructive feedback and chance for discussion since it seems like many examples are done in the same way. I would have preferred that the trajectory building and autonomous command be done in a subsystem class and/or unique command instead of being done in RobotContainer for clean-code (seems like most frc programmers like to stuff gobs of things in RobotContainer instead of writing clean-code) and more importantly autonomous programs tend to be much more complicated. Generally an autonomous schedule will be comprised of several unique trajectories with other actions like a robot arm or intake system taking control of an object or a shooter projecting an object between those moving the robot along those trajectories. So doing the follow trajectory commands will need to be built up in Individual Commads and called from a Command Group along with other commands, having them defined in or at least called from individual Commands is necessary. It would not a bad idea to get used to doing/teaching code partitioning since that is the norm in the software industry.

Good tutorial!But I'm a little confusing about the autonomous X and Y PID parameter.It just set the P value to 1.How dose it work? I don't need to test the P value by myself?

Does this still work in WPILib 2023? I get an undefined error when I use setDesiredState.

Thank you for your video. I have a questions. I guess the Swerve Module you are using is MK3. Which Gear Ratio did you choose in your Swerve Module? Fast 6.86:1 or Standart 8.16:1. I have one more question. Can I use the MK4 swerve module with these codes instead of the MK3 Swerve Module? Thank you from now.

i love sweve!!!!!!!!!!!!

Beginner question: If we plan on using CAN/Bus to connect our motor controllers, would we still use "DriveConstants.kBackRightDriveMotor" or would we have to change "port" to "Id". My assumption is that "port" means they are connected to a PWM port. Am I wrong?

This video is a life saver, but I do have a few hardware questions. Will this work with SDS Mk3 modules, are the motor ports the SparkMax's id numbers, and does this need a physical pid controller? Those have been the main 3 things on my mind when going though this. And once again, thank you for this top tier content.

Hey, I keep any error with the normalizeWheelSpeeds, why would that be?

Will this work with the changes to java in 2023 in frc? My team has lost its head programmer and we are truly lost. Thanks Team1262

tgis is sups cool