SDS MK4i Swerve Drive
PHRED 847 Swerve Drive
PHRED is excited to begin implementation of swerve drive for our 2024 FRC robot. Thanks to a generous grant from the Philomath High School Booster Club, the team was able to purchase 4 SDS MK4i swerve modules. During the pre season, the team learned how to build, wire, and program the modules. This page will have resources that may be helpful to other teams as they transition to swerve drive.
WPI Library Documentation
FIRST Robotics Competition Control System
Java API Documentation 2023.4.3
Other FRC Team Resources
BroncBotz3481 Code for different encoders
Spark Max encoder resources
Redux Canandcoder Resources
Using the PWM Output with Spark Max
Chief Delphi Threads
Adapting 364's Base Swerve Drive Code to Use NEOs for steering
Redux Robotics Introduces the Helium Canandcoder
MK4i, CANCoders, NEO - Swerve Offset Issues
Best setup options for Swerve MK4i NEO drive and turn motors