SwerveBase-CTRE

A base project for future robots that has CTRE generated swerve drive code and PhotonVision AprilTag processing.

Features

• Swerve drive code using CTRE's swerve code generator.
• Device logging with SignalLogger and data logging with Epilogue and DogLog.
• Device Fault Logging as telemetry for at-home testing. The faults are also logged with DogLog for post-match review.
• Pre-match self check with custom self-check commands.

Todo

• Add photon vision code (LOOK AT THE 2025 BETA UPDATES FIRST).
• Add more unit tests.
• Add proper licenses.
• 6328 wheel radius characterization.

2025 Latest Beta Known Issues

• To run sim, do ./gradlew simulateJava instead of using the WPILib extension (for Epilogue to work).
• Epilogue can't handle annotated inner classes (see this issue) which has been fixed in this pull request for the next wpilib release.