Package com.marslib.swerve
package com.marslib.swerve
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ClassDescriptionHardware interface for the robot's central gyroscope (IMU).Real hardware implementation of the gyro IO layer using a CTRE Pigeon2 IMU.Simulated gyro IO layer that derives yaw from the maple-sim physics engine.High-frequency CAN bus polling thread for CTRE Phoenix 6 odometry signals.Container for pre-allocated gyro yaw data.Container for a batch of synchronized odometry samples from a single module.Encapsulates the static configurations for PathPlanner's AutoBuilder.Configuration record for the SwerveDrive subsystem.Diagnostic and automated alignment sequences for the Swerve Drive.The core MARSLib SwerveDrive subsystem responsible for managing holonomic kinematics, dynamic PathPlanner autonomous trajectories, and active power shedding.Represents a singular Swerve Module (e.g.Hardware abstraction interface for a single swerve module (drive + turn motors).Simulation IO layer for a single swerve module.Hardware IO implementation for a Swerve Module using CTRE TalonFX motors and a CANcoder.Encapsulates high-frequency (250Hz) odometry tracking and vision fusion.Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path follower), and outputs a new setpoint that respects all of the kinematic constraints on module rotation speed and wheel velocity/acceleration.Command to handle Teleop Swerve Driving.Pure-function joystick-to-ChassisSpeeds math for the teleop drive pipeline.Advanced 2D Slew Rate Limiter to prevent carpet slippage and Odometry drift.