Swerve Drive

Swerve Drive (swervedrive.json)

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

JSON Fields

Name	Units	Required	Description
imu	Device	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.