Conventions

Here are the conventions used in these docs.

Variable Naming

  • Instance Variables: m[VARIABLE_NAME] (e.g. mMotorController)

  • Constants: k[VARIABLE_NAME] (e.g. kMotorControllerID)

Swerve Part Naming

Swerve Parts

Swerve Parts; source

  1. Throttle: Controls the rotation of the wheel

  2. Rotor: Controls the angle of the wheel (Throttle Encoder measures the angle of the rotor)

SwerveModule Order

Order of the Swerve Modules used in this guide:

  1. Left Front

  2. Right Front

  3. Left Rear

  4. Right Rear

Swerve Module Order

Swerve Module Order; source