MAXSwerve

Kotlin WPILib swerve drivetrain project (REV MAXSwerve-style modules) used by Early College / Hangar 84 for drivetrain development, telemetry, and autonomous path following.

Overview

This repo implements a swerve drivetrain with:

• odometry + pose estimation
• PhotonVision-based vision pose updates
• PathPlanner autonomous using AutoBuilder
• real-time telemetry (modules, chassis, pose)

Key Features

• Kotlin + WPILib command-based structure
• Swerve module control + kinematics
• Odometry + SwerveDrivePoseEstimator
• Vision updates using PhotonVision AprilTags
• PathPlanner autonomous via AutoBuilder
• Telemetry to SmartDashboard / NetworkTables
• Simulation support (sensor simulation + pose comparison)

Controls (Xbox Controller)

(Typical mapping used in your RobotContainer projects)

• Left stick: translation (X/Y)
• Right stick X: rotation
• Left bumper (hold): park/lock wheels (calls PARK command)

Autonomous (PathPlanner + AutoBuilder)

Autonomous selection is built using buildAutoChooser() and PathPlanner’s AutoBuilder. Paths can be flipped automatically based on alliance color. :contentReference[oaicite:0]{index=0}

Telemetry & Monitoring

This project publishes detailed telemetry for debugging and tuning, including:

High-level robot telemetry

• Swerve/YawDeg
• Swerve/Pose
• Swerve/Chassis/* (vx, vy, omega) :contentReference[oaicite:1]{index=1}

Module telemetry (per module: FL, FR, RL, RR)

• Swerve/<Module>/SpeedMps, AngleDeg
• Swerve/<Module>/DesiredSpeedMps, DesiredAngleDeg
• Drive: Current / Output / Temp
• Turn: Current / Output / Temp :contentReference[oaicite:2]{index=2}

Vision telemetry

• Swerve/Vision/HasEstimate :contentReference[oaicite:3]{index=3}

Simulation telemetry

• Swerve/Sim/Pose, Swerve/Sim/YawDeg
• Swerve/Sim/Cmd (commanded chassis speeds)
• Swerve/Sim/Encoders, Swerve/Sim/AzimuthDeg
• Swerve/Sim/PoseCompare (ground truth vs estimated) :contentReference[oaicite:4]{index=4}

Hardware

• IMU: ADIS16470 (real robot), simulated yaw in sim :contentReference[oaicite:5]{index=5}
• Vision: PhotonVision camera named "FrontCamera" :contentReference[oaicite:6]{index=6}
• CAN IDs in Constants.Swerve :contentReference[oaicite:7]{index=7}

Contributing (Team Workflow)

• Branches: feature/... and fix/...
• Validate drive + telemetry in sim when possible
• Keep telemetry keys stable so dashboards don’t break

Credits

Early College High School Robotics / Hangar 84
Built with WPILib, PathPlanner, REV libraries, and PhotonVision.