Hello everyone,

This is our swerve code for 2024.

Some new features and capabilities include:

• Logging System: We use AdvantageKit for robust and detailed logging of robot data during matches and testing.

• Trajectory Planner: We leverage PathPlanner for precise trajectory generation and execution, including real-time trajectory creation.

• Simulation: We integrate with AdvantageScope for comprehensive robot simulation, debugging, and data analysis.

• Vision System: Using PhotonVision, our robot can detect and align with AprilTags, enabling advanced autonomous capabilities.

• Localization: The robot performs automatic field-relative localization using AprilTags, improving navigation and consistency in autonomous modes.

• Control System:

  • Implemented ThrottleMap for customizable acceleration curves, ensuring smoother and more controlled driving.
  • PID-controlled alignment with vision targets, enabling accurate positioning.

• Real-Time Trajectory Adjustment: Our system supports on-the-fly trajectory generation, adapting to dynamic conditions during a match.