This repository will be used to rewrite the Swerve code in Java. It consists of several iterations of a Swerve directory (SwerveBotv4 being the latest version), a SwerveButTank directory (v2 being the latest version), and a motorcontrol directory. Each of these is a separate WPILib project. The Swerve directories are used for controlling the Swerve Drive and subsystems, and are the main robot code directories. SwerveButTankv2 keeps the same 2026 subsystems while turning the Swerve drive into a Tank drive. motorcontrol is a general-purpose project for testing motors, motor controllers, etc.

The configuration JSON files can be configured and downloaded from https://broncbotz.org/YAGSL-Example/.