How tucanusfrc/swerve2026-2027 works
This is WPILib robot-control software for a swerve-drive robot. The runtime starts the TimedRobot, whose teleop loop sends Xbox input and gyro heading through chassis-speed and swerve-kinematics calculations to four wheel modules; robot periodic also publishes module telemetry. The graph includes configuration and hardware interfaces. The README is empty, so capabilities beyond the sampled source are not inferred; edges reflect calls and data access visible in the excerpts.
Main entry points: SwerveDrive.java Swerve drive · Robot.java Robot lifecycle · SwerveModule.java Swerve module · Gyro.java Gyro adapter
Components 9
Robot runtime
- Robot entry
src/main/java/frc/robot/Main.java - Robot lifecycle
src/main/java/frc/robot/Robot.java - Robot constants
src/main/java/frc/robot/Constants.java
Drive control
- Swerve drive
src/main/java/frc/robot/SwerveDrive.java - Swerve module
src/main/java/frc/robot/SwerveModule.java
Hardware interfaces
- Gyro adapter
src/main/java/frc/robot/Gyro.java - CAN hardware
Telemetry
- SmartDashboard
Other components
- Driver station
Connections 14
- Robot entry → Robot lifecycle: starts
src/main/java/frc/robot/Main.java - Robot lifecycle → Swerve drive: constructs, runs
src/main/java/frc/robot/Robot.java - Robot lifecycle → Gyro adapter: constructs
src/main/java/frc/robot/Robot.java - Robot lifecycle → Robot constants: reads IDs
src/main/java/frc/robot/Robot.java - Driver station → Robot lifecycle: provides input
src/main/java/frc/robot/Robot.java - Driver station → Swerve drive: provides axes
src/main/java/frc/robot/SwerveDrive.java - Swerve drive → Gyro adapter: reads yaw
src/main/java/frc/robot/SwerveDrive.java - Swerve drive → Swerve module: sets states
src/main/java/frc/robot/SwerveDrive.java - Swerve drive → Robot constants: reads deadband
src/main/java/frc/robot/SwerveDrive.java - Swerve module → Robot constants: reads wheel data
src/main/java/frc/robot/SwerveModule.java - Gyro adapter → CAN hardware: reads yaw sensor
src/main/java/frc/robot/Gyro.java - Swerve module → CAN hardware: controls, reads
src/main/java/frc/robot/SwerveModule.java - Robot lifecycle → Swerve drive: requests telemetry
src/main/java/frc/robot/Robot.java - Swerve drive → SmartDashboard: publishes values
src/main/java/frc/robot/SwerveDrive.java