SwerveBase-CTRE

A base project for future robots that has CTRE generated swerve drive code and Photon Vision AprilTag processing.

Features

• Swerve drive code using CTRE's swerve code generator.
• Device logging with SignalLogger and data logging with Epilogue and DogLog.
• Device Fault Logging as telemetry for at-home testing. The faults are also logged with DogLog for post-match review.
• Pre-match self-check with custom self-check commands.
• A custom VisionPoseEstimator class that reads from a Photon Vision camera and updates the swerve pose estimator with filtered and disambiguated AprilTag vision measurements.
• Automated wheel radius characterization routine (based on 6328's wheel characterization).
• A custom zshell script that performs camera calibration with mrcal given an input video of a chessboard dance.

Todo

• Add choreo (or pathplanner?) support.
• Add more unit tests.
• Add proper licenses.

How This Will Be Used

• At the start of the 2025 season this project should be re-imported in the 2025 wpilib release for any additional updates.
• After that, since this project is a template on github, the actual 2025 robot code repo can be generated from this template:

Calibration Process

• Run calibration/calibrator.zsh in zshell in WSL in the calibration folder (make sure all packages are installed).
• Analyze calibration as according to the mrcal tour.
• If the calibration was good, load the generated JSON into photon vision.