Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

Yet Another General Swerve Library Example Project

Third Coast swerve drive and telemetry API for FRC robots

FRC Swerve Drive Example

Dockerized simulation of a swerve-drive robot.

Bird Brained Swerve Utility for Crabs

An interactive visual path planning tool for swerve drive robots.

FRC swerve library for Python

Team 2875 Cyberhawks swerve-drive and utility library for FRC (Kotlin/Java)

[OUTDATED USE SwerveDrive2025 REPO] A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Features code for an elevator and grabber.

A visualisation of the math behind swerve drive used in FRC robots using the Processing library.

The 364 Practical Swerve base - adapted for REV Motors.

🤖 This repository holds our final bot's code for the 2017-18 FTC robotics challenge: Relic Recovery!

FRC Robot code for team 2106's 2025 robot - Guppy. Features TalonFX swerve drive, 3 stage elevator, and active angle intake all with Advantage Kit logging. Extensive simulation and auto capabilities with PathPlanner and PhotonVision.

Our robot for the 2024 FRC season, Crescendo.

A Java rewrite and improvement of Team 2539's 2022 robot code.

A library that seeks to provide a convenient swerve drive implementation for FRC teams.

FRC 4741s swerve project, using YAGSL.

The purpose of this repository is to serve as a python swerve drive implementation reference and starting point for FRC teams.

Repository for a differential swerve robot using limited Lego electronics

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

FRC Team 31 Prime Movers swerve test code

Our team's 2nd iteration of swerve drive made for the 2024 season, Crescendo

Submodule of Shunkobot containing the 3D model and print files required for assembling the omnidirectional robot.

Execution of teleop twist keyboard in simulation on swerve drive

FYRE's custom swerve code for FRC robots.

Raid Zero swerve template for FRC robots!

Outdated Initial Swerve Code. Est. 2024

A swerve library for the FTC robotics competition