rodolfosouzamoraes/swerve-mk4i-drivetrain-frc

This is an FRC command-based robot application for Xbox-operated, field-oriented swerve driving. The primary workflow is controller input through RobotContainer into the swerve drivetrain, which converts chassis motion into module setpoints for SparkMax motors; the Pigeon and wheel sensors provide heading and position for odometry. Robot runs the WPILib command scheduler. The repository also retains WPILib example command/subsystem code; autonomous scheduling is commented out in Robot. Unsampled details are represented only where the README or source index supports them.