Add support for MK5n. #159
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Pull request overview
This PR adds support for Swerve Drive Specialties (SDS) MK5n swerve modules to the codebase and updates the practice robot configuration to use these new modules.
Key Changes:
- Adds three new MK5n module constant variants (R1, R2, R3) with different drive gear ratios to SwerveConstants
- Updates NewPracticeRobotConfig to use MK5N_R2 modules uniformly across all four swerve modules
- Reassigns ROBOT_SIMBOT to use NewPracticeRobotConfig instead of CalypsoRobotConfig
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| src/main/java/frc/lib/team3061/swerve_drivetrain/swerve/SwerveConstants.java | Adds MK5N_R1_CONSTANTS, MK5N_R2_CONSTANTS, and MK5N_R3_CONSTANTS with corresponding gear ratios and motor inversion settings |
| src/main/java/frc/robot/configs/NewPracticeRobotConfig.java | Replaces mixed MK4N/MK4I module configuration with uniform MK5N_R2 modules by removing front/back-specific overrides and updating getSwerveConstants() |
| src/main/java/frc/robot/RobotContainer.java | Moves ROBOT_SIMBOT case to use NewPracticeRobotConfig instead of CalypsoRobotConfig |
| README.md | Updates documentation to list MK5n as a supported swerve module type |
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