swerve-drive

Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

Yet Another General Swerve Library Example Project

Third Coast swerve drive and telemetry API for FRC robots

FRC Swerve Drive Example

Dockerized simulation of a swerve-drive robot.

Yet Another Generic Swerve Library

Bird Brained Swerve Utility for Crabs

An interactive visual path planning tool for swerve drive robots.

FRC swerve library for Python

Team 2875 Cyberhawks swerve-drive and utility library for FRC (Kotlin/Java)

[OUTDATED USE SwerveDrive2025 REPO] A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Features code for an elevator and grabber.

A visualisation of the math behind swerve drive used in FRC robots using the Processing library.

The Swerve base practically used by Team 364 Fusion.

FRC Robot code for team 2106's 2025 robot - Guppy. Features TalonFX swerve drive, 3 stage elevator, and active angle intake all with Advantage Kit logging. Extensive simulation and auto capabilities with PathPlanner and PhotonVision.

🤖 This repository holds our final bot's code for the 2017-18 FTC robotics challenge: Relic Recovery!

The 364 Practical Swerve base - adapted for REV Motors.

Our robot for the 2024 FRC season, Crescendo.

A library that seeks to provide a convenient swerve drive implementation for FRC teams.

A Java rewrite and improvement of Team 2539's 2022 robot code.