Bird-brained swerve drive utility.
Looking to contribute to or use Quail? You may find value in joining the Discord server: https://discord.gg/ABznnnBB
To use Quail, you need a few things. The first is swerve modules. More than one. I don't care where your swerve modules are. They could be 52 miles apart (i.e. this) and in the shape of a pentagon and Quail would still work.
The second thing you need is a little knowledge of Java. You should be able to:
- use a PID controller
- use subclasses
- read an encoder
- make your motors spin (to an angle if using coaxial swerve)
If you want to get started quickly, there are docs here A javadoc can be found here
I wish I knew Kotlin so I could make it purple. 💜
Currently, Quail is stable. Not quite sure about the documentation--it seems to be a bit tempermental.
Quail is designed for use and tested in FRC and FTC, but it should work in any java program.
Working:
- Swerve reverse kinematics (robot can drive)
- Swerve odometry (robot can know where it is)
- Includes heading odometry (can run field oriented without gyroscope and/or provide corrections to gyroscope via Kálmán filter)
- 2-deadwheel odometry (robot can know where it is (requires additional hardware & gyro))
- Autonomous navigation and pathing
- Kálmán filter for use with vision
Not quite working
- Path sequences