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Swerve Drive
T Grinch edited this page Nov 13, 2023
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4 revisions
The Swerve Drive JSON configuration file configures everything related to the overall Swerve Drive.
It maps 1:1
to SwerveDriveJson.java
which creates
a SwerveDriveConfiguration
that is used to create
the SwerveDrive
object.
| Name | Units | Required | Description |
|---|---|---|---|
| imu | Device | Y | Robot IMU used to determine heading of the robot. |
| invertedIMU | Boolean | Y | Inversion state of the IMU. |
| modules | String array | Y | Module JSONs in order clockwise order starting from front left. |