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Commits on Apr 9, 2023

• Configurable optimizations.

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• Angles really should never be optimized if they're equal to the previous states angle.

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Commits on Apr 8, 2023

• Removed UTF-8 char.

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• Added docs.

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• Added optional chassis correction.

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• Added docs.

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• Added more accurate Pose Estimator which relies on gyro pitch and roll as well. Developed by Team 1466.

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• Removed optional second order kinematics, angle KV calculations, and added the feedforward back. Added pose estimation patch from 254. Updated styles. Removed freespeed RPM requirement.

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• Attempt to remove 2nd order kinematics when it comes to teleoperated drive.

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Commits on Apr 6, 2023

• Use units.

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• Uniform handling of angleKV.

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• Moved optimization.

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• Add safety if sent the same state twice.

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• Formatting.

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Commits on Apr 5, 2023

• Set feedforward as a variable.

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Commits on Apr 4, 2023

• Added SwerveDrive#setMaximumSpeeds which can desaturate speeds based off of translational and rotational velocity.

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Commits on Mar 30, 2023

• Added SwerveController#getJoystickAngle function.

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Commits on Mar 29, 2023

• Add safety to ensure feedforward is never used when forcing module to positions.

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• Fixed uri.

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• Fixed URI.

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• Added javadoc for anglemotor kv.

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• Burnouts continue to happen with feedforward enabled for SparkMax's. Removing feedforward from steering motor.

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Commits on Mar 28, 2023

• Merge branch 'main' into module_optimization

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• Include InteliJ run configurations. Update SwerveModule maximum speed configurations and overload maximum speeds for easy configuration.

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• Added methods to override maximum speeds and angular velocity in the controller.

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Commits on Mar 27, 2023

• Removed PID Slot and just use PID slot 0.

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• Added configurable angle motor kV to JSON files.

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• Added credit to team 3181 in the Swerve Math package-info.java

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• Patched data being sent to swerve modules to match the state that was passed to the motor controllers.

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• Merge branch 'main' into module_optimization

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• Added overload to make it easy to pass a vision measurement standard deviation to address issue BroncBotz3481#65

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• Added back 2nd order kinematics to angle motors and enabled it within the SparkMaxSwerve.setReference function.

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Commits on Mar 24, 2023

• Address issue BroncBotz3481#60

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• Added optimizations from Team 3181, applied angle optimizations ahead of time in SwerveModule, may need to remove redundancy in TalonFXSwerve and TalonSRXSwerve. Moved antiJitter function to Swerve…

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• Limited SmartDashboard publishing to SwerveDriveTelemetry

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