SwoLib VS PrettyPersianNumbers

Arguably the most distinct aspect of SwoLib is its fully dynamic autonomous capabilities. Thanks to the aforementioned AprilTag-based positioning, a robot employing SwoLib’s autonomous utilities is capable of starting anywhere on the field and following the same predefined paths. SwoLib performs motion profiling and path calculations at runtime. The paths are composed of a list of waypoints that can be generated from our own modified version of pathplanner. This allows the robot to discern its position on the field using a Limelight + AprilTags and then move to the correct starting position when the autonomous period begins! Not only can this be applied in autonomous, but also in the teleop period too! Team 2875 uses this to automatically position our robot to place cones/cubes (in teleop), and we can begin this automatic positioning from anywhere on the field!

Team 2875 is excited to announce our first-ever open source Kotlin/Java FRC library (https://github.com/CshCyberhawks/SwoLib). This library (SwoLib) is swerve-drive focused and DOES NOT wrap WPILib swerve drive kinematics classes; instead, it is based on custom-written kinematics. The library also includes various utilities and wrappers for hardware ranging from gyros to limelights. Thanks to our custom-built swerve drive autonomous, robots employing SwoLib are capable of a “dynamic” autonomous where they may start at any place on the field (as long as an AprilTag is in view of a limelight). More information and documentation can be found on the library’s GitHub (https://github.com/CshCyberhawks/SwoLib). Check it out!