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Kraken Swerve Base

This is a swerve base made for ALL CTRE hardware

Features

  • FOC Support
  • CANivore Support
  • Simple and barebones

Future Features

  • 250hz odom
  • SDS: MK4c, MK4n Support
  • WCP: X2, X2i, X2t, X2st, Xs

CANcoder Calibration

When calibrating for CANcoder offsets, make sure the bevels face right of the robot

Additional Setup

PLEASE read every //TODO: and do the thing, 99% of the time if you are having an issue, you haven't done all of the setup.

Module Support:

  • SDS MK3
  • SDS MK4
  • SDS MK4i
  • WCP Swerve X

Disclaimer

We still highly reccomend that you use CTRE's swerve generator, as it has more support, and has some additional features that this swerve base does not have.

License

Distributed under the MIT License. See LICENSE for more information.

Contact

If you are having trouble, DM me on CD or Discord