Swerve Drive Advantage 2024 is a sophisticated swerve drive base code designed for the 2024 FRC season. It leverages the AdvantageKit framework with YAGSL implementation, providing a robust solution. This project is fully compatible with the latest 2024 builds and is specifically tailored for our 2024 Robot, Maestro.

• Full AdvantageKit Support: Utilizes the AdvantageKit framework for comprehensive logging of every subsystem.
• YAGSL Implementation: Incorporates YAGSL for advanced swerve drive control, offering configuration simplicity.
• PhotonVision Odometry: Integrates PhotonVision for precise odometry, enhancing navigation and path planning.
• PathPlanner Integration: PathPlanner support for autonomous path generation and execution.
• Comprehensive Subsystems: Includes detailed code for Arm, Shooter, and Intake IO / Subsystems.
• State-Based Subsystems: Designed with state-based subsystems for efficient and maintainable code.

• SDS MK4i Modules: Utilizes SDS MK4i Modules
• Vortexs: Includes NEO Vortexs for swerve drive and shooter motors.
• Neos: Employs NEOs for swerve turn and all other subsystem motors.
• Canandcoders: Utilizes Canandcoders for absolute position sensing and swerve offsets.

To get started with Swerve Drive Advantage 2024, clone this repository and follow the setup instructions provided in the YAGSL docs. Ensure you have the necessary hardware components and vendor updates installed.

This project is licensed under the MIT License. See the LICENSE file for details.

For more information, visit www.team2106.org.