PythonRobotics VS allwpilib

I usually start here: https://github.com/AtsushiSakai/PythonRobotics , but I'm not sure how much is extended to 3D off the top of my head.

Code is on github. You could try to start with the main method here: https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/AStar/a_star.py

Also another good source of material https://atsushisakai.github.io/PythonRobotics/

Look into the following source. Its not implemented in ROS but there are examples of implementation of Robotics algorithms in python. From there it should be easy to implement them in ROS after you understand how ROS work. https://atsushisakai.github.io/PythonRobotics/

This was partly inspired by PythonRobotics (which I love!). However, I don't want this repo to become a huge collection of unorganized algorithms. I want the focus to be on quality over quantity. At the same time, I don't want this repo to be only "educational". While I want to include as many examples as possible for educational (and documentation) purpose, I want this library to be fast so that it can be used in practical applications.

check out python robotics https://github.com/AtsushiSakai/PythonRobotics

https://github.com/AtsushiSakai/PythonRobotics#linearquadratic-regulator-lqr-speed-and-steering-control

You need to be more specific, what issues? I would recommend starting with an example. https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive. And looking at the documentation for it here. https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html#mecanum-drive If this doesn’t work make sure your wheels are in the correct orientation (x pattern when viewed from top) and you set your inverts right.)

I believe this page has timed based swerve code https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot

Study Java syntax, and look up the common code libraries at https://wpilib.org/

Just to cover all the bases, have you run the 2022 installer? That should have all of the files required to build robot projects. Even if you have I would recommend running it again and making sure that it installs the JDK to the default location.

Also remember that wpilib is open source, so you can check out the implantation of all of these classes yourself to better understand what they’re doing. Java SequentialCommandGroup is right here. You can also access this by control+left clicking on almost any class or method in vscode and it’ll open up a new editor tab with that code.

To get myself started I used Manning Robotics tutorial. Keep in mind though it is out of date as there was a rewrite for the command based framework in 2020. Check out the WPILIB for a walk through of the system. Also linked from WPILIB are the example projects gears bot and traditional hatchbot that my team has been referencing to get us started.

It's been updated, and installing it worked for me. Get the dmg from here, then download and install.

This is the link to the GitHub release https://github.com/wpilibsuite/allwpilib/releases/tag/v2019.4.1

if you’re sure you want to go the in-wheel encoder route, check out wpilib’s implementation of it here. it uses EJML for most of the math, but you can remove it if you’re comfortable with matrixes