allwpilib VS BaseTalonFXSwerve

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 Keep in mind though it is out of date as there was a rewrite for the command based framework in 2020.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

Team 364's BaseFalconSwerve

just looked up what timed robot is, and its java. so just steal code from 364 or something https://github.com/Team364/BaseFalconSwerve

The SDS libraries have been marked as unmaintained and deprecated for this year. I would recommend moving to BaseFalconSwerve https://github.com/Team364/BaseFalconSwerve

Hi. If I were you I would check out Team 364's PID settings for MK4i's angle motors. Start there and tune. It does look like the motors are rapidly oscillating, and that would point me to PID being the first thing to change.

364's BaseFalconSwerve I've found to be much better than the SDS template code

I do! We're using the SDS MK4 and they're working great with a simple PID loop that only has a 0.1 P coefficient without I and D and that's working great for us! Here's the base code we used by team 364