Swerve Drive Configuration

Swerve Drive (swervedrive.json)

The Swerve Drive JSON configuration file configures everything related to the overall Swerve Drive. It maps 1:1 to SwerveDriveJson which creates a SwerveDriveConfiguration that is used to create the SwerveDrive object.

JSON Fields

Name	Units	Required	Description
imu	Gyroscope	Y	Robot IMU used to determine heading of the robot.
invertedIMU	Boolean	Y	Inversion state of the IMU.
modules	String array	Y	Module JSONs in order clockwise order starting from front left.

Example Configuration

{
  "imu": {
    "type": "pigeon2",
    "id": 13,
    "canbus": "canivore"
  },
  "invertedIMU": true,
  "modules": [
    "frontleft.json",
    "frontright.json",
    "backleft.json",
    "backright.json"
  ]
}