Welcome to 4253’s Swerve Documentation!

Welcome to FRC Team 4253’s Swerve Documentation! This documentation contains everything you will need to know to get a swerve drive up and running.

Note

Check out the code we use in these docs on our Github!

Swerve: Pre-Software

• Hardware
• Software Prerequisites
• Conventions
• Swerve Configuration

Swerve: Software

• SwerveModule Class
• Swerve Class
• TeleOp
• Autonomous Pathing

Further Topics

• Feedforward