Software Prerequisites

Before you proceed, there are a few software concepts you should be familiar with.

WPILib Command Based Structure:

  • WPILib Command Based documentation here.

Note

Using command based is not required for writing good swerve software. However, this guide will use command based.

PID:

  • WPILib article here.

  • George Gillard article here.

Diagram of PID

Diagram of PID; source