CAD

The design of this swerve module was an off season project to help me hone my CAD/CAM abilities. I only got the chance to make one full module before the season started so I can't speak to how well the chassis as a whole would work but the individual module worked well so I'm confident the full chassis would also work well.

CODE

I The code for this swerve chassis is hosted on my github under FTC_18_8088_TEST in the master branch. currently other mechanisms are implemented but all the code for swerve is there. The code creates a swerve module object for each swerve module and a swerve object for the chassis as a whole. The chassis inherits some methods from a mech class that take care of the things that every mechanism on any robot needs to. For more information read the JavaDoc.