Chris Gerth

To get a scale of the level of configuration needed, Here's a strawman of a library class mirroring off of `DifferentialDriveSim`: ## `SwerveModuleSim` ```java public SwerveModuleSim( DCMotor azimuthMotor, DCMotor wheelMotor,...

Copying some additional discussion from Discord: 1) `physics/Vector2d.java` is a patch to add cross-product functionality to wpi's Vector2d - this should just be pushed to WPIlib. 2) `physics/Force2d` can be...

A status update, nothing more: Progress is been made over in the test repo I'm using. https://github.com/RobotCasserole1736/TestSwervePlantModel/tree/wpilib_stripout/src/main/java/frc/sim/wpiClasses contains what I'm looking to submit (along with unit tests and a barebones...

Since this has been dead a while, wanted to make sure we marked off where we're at: 1) Functionality has successfully been moved into dedicated, reusable java classes, ready for...

> Should the classes the Vector2d and Force2d move to a separate folder instead of drive or swerve, something like math, or geometry etc? Maybe edu.wpi.first.math.geometry. Likely yes - I...

>That way the rest of the code could be included as a single folder into user code for the upcoming season. So I think the best way to achieve that...

Great question! I've been meaning to post an update here. My current opinion: I don't think this is ready for prime-time yet, for a few reasons: The biggest - the...

FWIW.... from a tasking perspective, this is a fairly major change in functionality to `TimedRobot`. Might be the fear-mongerer in me... but I'd suspect this could break someone in strange...

Thanks for all the early stuff - will work on incorporating it tonight and continuing to flesh out the actual wording on a lot of sections. From the technical side:...

Ok poking the group for a design review on the .js side before I get too far. 55aecc05 should have most of the functional content required. It's close to being...