Swerve-2025

A Python implementation of a swerve drive control system for robotics applications.

Overview

This project provides a modular swerve drive system that controls four swerve modules, each consisting of a drive motor and a steering motor. The system uses the moteus motor controller library with Pi3Hat for communication.

Features

• Asynchronous motor control using asyncio
• Modular swerve drive architecture
• Support for moteus motor controllers
• Individual module control with speed and angle settings
• Built-in test functions for system validation

Requirements

• Python 3.7+
• Hardware: moteus motor controllers with Pi3Hat

Installation

1. Clone the repository:

git clone https://github.com/Tonkotsu-Tech-Robotics/Swerve-2025.git
cd Swerve-2025

2. Install the required dependencies:

pip install -r requirements.txt

Usage

Basic Usage

Run the main program:

python main.py

Hardware Configuration

The system is configured for the following motor layout:

• Bus 1: Drive motor ID 11, Steer motor ID 12
• Bus 2: Drive motor ID 13, Steer motor ID 14
• Bus 3: Drive motor ID 15, Steer motor ID 16
• Bus 4: Drive motor ID 17, Steer motor ID 18

Dependencies

• asyncio: Asynchronous programming support
• moteus: Motor controller library
• moteus-pi3hat: Pi3Hat communication interface
• wpilib: WPILib robotics library
• wpimath: WPILib math utilities
• pygame: Game development library (for potential joystick input)

License

This project is licensed under the terms specified in the LICENSE file.

Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Submit a pull request

Safety Notes

• Ensure proper hardware connections before running the program
• Use appropriate safety measures when working with motors
• Test in a controlled environment before deployment