SwerveDrive2023 - FRC Team 2106

A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Fully working and updated for 2023.

This part of the code is working:

Teleop control with Joysticks or an FPV Transmitter

Field Oriented control with PID ( New! )

Command based auto with Pathplanner libary

Photonvision basic april tag aligment

Elevator and grabber PID Code

Here is what is currently being worked on:

Pathplanner with other commands

Advanced Phtonvision commands

Photonvision Odometry

Teleop Drive