❌DEPRECATED❌

Swervelib is now deprecated. Use WPILibJ built-in swerve drive kinematics and other swerve drive utilities instead.

Implementing Swervelib

This is just a small library in order to help implement swerve drive more easily. In order to use it, first download the latest release from this release's assets and, in your wpilib project, create a new directory named libs and place the jar inside. Next, navigate to your project's build.gradle file and, under the dependencies section, add the following line:

implementation name: 'BUILDNAME'

Above the dependencies section, you should also add the following:

repositories {
	flatDir {
		dirs 'libs'
	}
}

Replace 'BUILDNAME' with the name of the .jar release.

Documentation

Documentation can be viewed online here.

Versioning

With the exception of very early versions of swervelib, versions will be named by v(version).(wpilib-version). For example, v2.2022.1.1 would be swervelib v2, built for wpilib version 2022.1.1.