Swervedrive Subsystem

[lchristensen6]

Swervedrive Subsystem

Description

The swervedrive subsystem creates methods capable of driving the robot using swervedrive. Swervedrive allows you to drive in all directions, rather than having to first turn and then drive with that same heading.

Implementation Plan

1. Import Phoenix 6 library to be able to use for our subsystem.
2. Create SK23Drive.java as our subsystem file, containing a method to drive our robot given translation and heading values.
3. Create DefaultSwervedrive.java as our default drive command, automatically updated every 20ms and able to drive the robot based upon controller input.
4. Create DriveBinder.java as our binder file, binding specific buttons and joysticks on the controller to control the swervedrive.

Affected Subsystem(s):

Drive Subsystem

Additional context