TalonFX Swerve Drive Support

.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>RoboLib</name>
+	<name>potential-octo-eureka-RoboLib</name>
 	<comment>Project RoboLib created by Buildship.</comment>
 	<projects>
 	</projects>

gradle.properties

@@ -0,0 +1,5 @@
+wpiVersion = 2026.2.1
+
+ctreVersion = 26.1.0
+
+advantageKitVersion = 4.0.0

lib/.classpath

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" output="bin/main" path="src/main/java">
+		<attributes>
+			<attribute name="gradle_scope" value="main"/>
+			<attribute name="gradle_used_by_scope" value="main,test"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="src" output="bin/test" path="src/test/java">
+		<attributes>
+			<attribute name="gradle_scope" value="test"/>
+			<attribute name="gradle_used_by_scope" value="test"/>
+			<attribute name="test" value="true"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="src" path="build/generated/sources/annotationProcessor/java/main"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-17/"/>
+	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
+	<classpathentry kind="output" path="bin/default"/>
+</classpath>

lib/.project

@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>RoboLib-lib</name>
+	<comment>Project lib created by Buildship.</comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1743377880685</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>

lib/build.gradle

@@ -25,14 +25,14 @@ repositories {
     mavenLocal()
     gradlePluginPortal()
 
-    maven {url "https://maven.photonvision.org/repository/snapshots"}
-    maven {url "https://maven.photonvision.org/repository/internal"}
     maven {url "https://maven.ctr-electronics.com/release/"}
+    maven {url "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"}
 }
 
 dependencies {
     // Use JUnit Jupiter for testing.
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.8.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     // WPI Lib
     implementation "edu.wpi.first.cscore:cscore-java:$wpiVersion"
@@ -48,6 +48,9 @@ dependencies {
     // CTRE Phoenix 6
     implementation "com.ctre.phoenix6:wpiapi-java:${ctreVersion}"
 
+    // AdvantageKit
+    implementation "org.littletonrobotics.akit:akit-java:${advantageKitVersion}"
+
 }
 
 tasks.named('test') {

lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java

@@ -0,0 +1,195 @@
+package org.fairportrobotics.frc.robolib.drivesystems.swerve;
+
+import java.util.ArrayList;
+
+import com.ctre.phoenix6.CANBus;
+
+import edu.wpi.first.math.geometry.Translation2d;
+
+public class SwerveBuilder {
+
+    ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>();
+    CANBus canBusObj;
+
+    private double maxAngularVelRadiansSecond = 1.0;
+    private double maxLinearVelMetersSecond = Math.PI;
+
+    private int pigeonId;
+
+    public SwerveBuilder() {
+
+    }
+
+    public SwerveBuilder withPigeonId(int pigeonId) {
+        this.pigeonId = pigeonId;
+        return this;
+    }
+
+    public SwerveBuilder withCanbusName(String canBusname) {
+        this.canBusObj = new CANBus(canBusname);
+        return this;
+    }
+
+    public SwerveBuilder withSwerveModule(SwerveModule module) {
+        this.modules.add(module);
+        return this;
+    }
+
+    /**
+     * Set the max linear velocity in meters per second
+     * 
+     * @param maxVel Max linear velocity in meters per second
+     * @return The swerve builder
+     */
+    public SwerveBuilder withMaxLinearVelocity(double maxVel) {
+        this.maxLinearVelMetersSecond = maxVel;
+        return this;
+    }
+
+    /**
+     * Set the max angular velocity in radians per second
+     * 
+     * @param maxVel Max angular velocity in radians per second
+     * @return The swerve builder
+     */
+    public SwerveBuilder withMaxAngularVelocity(double maxVel) {
+        this.maxAngularVelRadiansSecond = maxVel;
+        return this;
+    }
+
+    public SwerveDriveSystem build() {
+        return new SwerveDriveSystem(pigeonId, canBusObj, maxLinearVelMetersSecond, maxAngularVelRadiansSecond,
+                modules.toArray(size -> new SwerveModule[size]));
+    }
+
+    public class SwerveModuleBuilder {
+
+        private int driveMotorId;
+        private double driveKP;
+        private double driveKI;
+        private double driveKD;
+        private double driveKV;
+        private boolean driveInverted = false;
+        private int steerMotorId;
+        private double steerKP;
+        private double steerKI;
+        private double steerKD;
+        private double steerKS;
+        private double steerKV;
+        private double steerKA;
+        private int steerEncoderId;
+        private double steerOffset;
+        private Translation2d moduleLocation;
+        private double gearRatio;
+        private double wheelDiameterInMeters;
+        private String moduleName;
+
+        public SwerveModuleBuilder() {
+
+        }
+
+        public SwerveModuleBuilder withDriveMotorId(int driveMotorId) {
+            this.driveMotorId = driveMotorId;
+            return this;
+        }
+
+        public SwerveModuleBuilder withDriveKP(double driveKP) {
+            this.driveKP = driveKP;
+            return this;
+        }
+
+        public SwerveModuleBuilder withDriveKI(double driveKI) {
+            this.driveKI = driveKI;
+            return this;
+        }
+
+        public SwerveModuleBuilder withDriveKD(double driveKD) {
+            this.driveKD = driveKD;
+            return this;
+        }
+
+        public SwerveModuleBuilder withDriveKV(double driveKV) {
+            this.driveKV = driveKV;
+            return this;
+        }
+
+        public SwerveModuleBuilder withDriveInverted(){
+            this.driveInverted = true;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerMotorId(int steerMotorId) {
+            this.steerMotorId = steerMotorId;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKP(double steerKP) {
+            this.steerKP = steerKP;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKI(double steerKI) {
+            this.steerKI = steerKI;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKD(double steerKD) {
+            this.steerKD = steerKD;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKS(double steerKS) {
+            this.steerKS = steerKS;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKV(double steerKV) {
+            this.steerKV = steerKV;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerKA(double steerKA) {
+            this.steerKA = steerKA;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerEncoderId(int steerEncoderId) {
+            this.steerEncoderId = steerEncoderId;
+            return this;
+        }
+
+        public SwerveModuleBuilder withSteerOffset(double offsetRotations) {
+            this.steerOffset = offsetRotations;
+            return this;
+        }
+
+        public SwerveModuleBuilder withModuleLocation(Translation2d moduleLocation) {
+            this.moduleLocation = moduleLocation;
+            return this;
+        }
+
+        public SwerveModuleBuilder withGearRatio(double gearRatio) {
+            this.gearRatio = gearRatio;
+            return this;
+        }
+
+        public SwerveModuleBuilder withWheelDiameter(double wheelDiameterInMeters) {
+            this.wheelDiameterInMeters = wheelDiameterInMeters;
+            return this;
+        }
+
+        public SwerveModuleBuilder withModuleName(String moduleName) {
+            this.moduleName = moduleName;
+            return this;
+        }
+
+        public SwerveModule build() {
+            return new SwerveModule(driveMotorId, driveKP, driveKI, driveKD, driveKV, driveInverted, steerMotorId, steerKP, steerKI,
+                    steerKD, steerKS, steerKV, steerKA,
+                    steerEncoderId, steerOffset, canBusObj, moduleLocation, gearRatio, wheelDiameterInMeters,
+                    moduleName);
+        }
+
+    }
+
+}