This is the code joel wrote to make the old team 100 andymark swerve base work. It started with the WPILib SwerveDriveController example, and I added shims for the various hardware used, e.g. VictorSRX etc.
There's a fork of it where all the real work is happening.
The original swerve base uses this hardware:
- CIM drive motor with Talon SRX controllers
- PG71 steering motor with Talon SRX controllers
- Drive encoder are CIMcoders, plugged into the Talon SRX, which seems like maybe it is broken somehow?
- Steering encoder are both quad encoders (which we ignore) and MA3 encoders. the Talon doesn't seem to understand the MA3 correctly.
The second swerve base uses this hardware:
- Falcon 500 drive motors, thus Falcon FX CAN-based control
- PG71 steering motors, using Victor SP PWM controllers
- Drive encoder is the Falcon integrated one.
- Steering encoder is the same MA3 as above, using the RIO analog input.