FRC Team 2408 - 2025 Swerve Drive Development

Overview

This repository contains development and testing code for Team 2408's swerve drive implementation for the 2025 season. This is an experimental/practice codebase focused on prototyping and testing swerve drive configurations, and serves as a development ground for our competition robot's drive system.

Purpose

• Develop and test swerve drive implementations
• Experiment with different control algorithms
• Test hardware configurations
• Document findings for competition implementation
• Train team members on swerve drive concepts

Getting Started

Required Software

• WPILib 2024.1.1 or newer
• Visual Studio Code
• Git
• WPILib VS Code extension
• REVLib vendor library
• Phoenix vendor library

Development Environment Setup

1. Install required software:

   # Clone repository
   git clone https://github.com/FRCTeam2408/2025_Swerve_Test_1.git
   cd 2025_Swerve_Test_1
   
   # Build project
   ./gradlew build

2. Configure VSCode:

   • Open project in VSCode
   • Install recommended extensions
   • Set Java path to WPILib JDK
   • Enable format on save

Hardware Test Configuration

Swerve Module Layout:
Front Left (ID: 1)    Front Right (ID: 2)
Back Left  (ID: 3)    Back Right  (ID: 4)

Components per module:
- Drive Motor: [Type TBD]
- Turn Motor: [Type TBD]
- Absolute Encoder: [Type TBD]
- Relative Encoder: [Type TBD]

Additional Sensors:
- Gyro: [Type TBD]

Project Structure

src/main/java/frc/robot/
├── subsystems/
│   └── swerve/          # Swerve drive implementation
│       ├── module/      # Individual module control
│       └── states/      # Module states and kinematics
├── commands/
│   └── swerve/          # Swerve drive commands
├── constants/           # Configuration constants
└── utils/              # Utility classes and helper functions

Development Process

Git Workflow

1. Create a branch for your work:

   git checkout -b feature/your-feature-name

2. Make changes and commit:

   git add .
   git commit -m "type(scope): description
   
   - Detail 1
   - Detail 2"

3. Push changes:

   git push origin feature/your-feature-name

4. Create pull request through GitHub

Testing Requirements

• All code must include unit tests
• Test in simulation before deploying
• Document all test results
• Include comment-based documentation

Safety Protocols

Code Safety

• Motor limits must be implemented
• Soft limits must be configured
• Emergency stop must be tested
• Watchdog must be enabled
• All autonomous functions must include safety bounds

Testing Safety

1. Always test in simulation first
2. When testing on robot:
   • Clear testing area
   • Enable at low speeds first
   • Have e-stop readily available
   • Document all unexpected behavior

Building and Testing

Build Commands

# Clean and build
./gradlew clean build

# Run tests
./gradlew test

# Run simulation
./gradlew simulateJava

# Deploy to robot
./gradlew deploy

Testing Process

1. Run unit tests locally
2. Test in simulation
3. Test on practice bot
4. Document results
5. Update relevant documentation

Contributing

Pull Request Process

1. Create feature branch
2. Write code and tests
3. Update documentation
4. Create pull request
5. Address review feedback
6. Merge when approved

Code Standards

• Follow WPILib style guide
• Use meaningful variable names
• Comment all complex logic
• Include Javadoc for public methods
• Keep methods focused and small

Documentation

Required Documentation

• Method documentation (Javadoc)
• Complex logic explanation
• Test coverage
• Usage examples
• Safety considerations

Performance Documentation

For each test run:

• Date and code version
• Test conditions
• Performance metrics
• Issues encountered
• Solutions implemented

Contact and Support

Team Contacts

• Team Email: [team email]
• Mentors:
  • Dan Hiebert
  • Josh Kupka
  • Stephanie [Last Name]
• Student Lead: Taaliyah

Additional Resources

License

This project is licensed under the MIT License - see the LICENSE file for details.