SwerveInstall.md

Installation

CANCoder

• Download the CTRE Phenox Library (tested 5.21) link
• Copy the java libraries "mavin" to the wpi library dir wpilib/2022
  • Add to your java project: https://phoenix-documentation.readthedocs.io/en/latest/ch05a_CppJava.html
• Copy the RobotBuilder to the RobotBuilder extensions directory.
• Open Robot Builder.
  • Create a swerve module subsystem.
  • Add a SparkMax controller for the turn motor
  • Add a SparkMax controller for the drive motor
  • Add a Cancoder

Add SparkMaxCan Robot Builder Extension

Robot Builder

Coding the robot

    @Override
    public void initSendable(SendableBuilder builder) {
        super.initSendable(builder);
        builder.addDoubleProperty("cancoder_abs_position", this::getCancoderAbsPosition, null);
        builder.addDoubleProperty("cancoder_id", this::getCancoderDeviceId, null);
        builder.addDoubleProperty("cancoder_position", this::getCancoderPosition, null);
        builder.addDoubleProperty("cancoder_velocity", this::getCancoderVelocity, null);
        builder.addDoubleProperty("turn_value", this::getTurnMotorValue, null);
        builder.addDoubleProperty("drive_value", this::getDriveMotorValue, null);
    }

Shuffleboard