{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# 這是一個 Swerve的專案"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "vscode": {
     "languageId": "plaintext"
    }
   },
   "source": [
    "硬體用料\n",
    "- 向量模塊(Swerve Module, SwerveMod)：用全TalonFX, 或是SparkMax(不過這兩家內部的東西(例如TalonFXS對TalonFX, SparkFlex對SparkMax)的函式庫基本上是通的，所以改的成本也很小)\n",
    "- 陀螺儀(gyroscope, gyro): Pigeon 2.0 / NavX 2.0(AHRS)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "程式的VendorDeps:\n",
    "\n",
    "- DogLog: 資料收集用\n",
    "- PathPlannerLib: 自動(Auton)的時候會用到的，非幣靴\n",
    "- Phoenix 6: [TalonFX](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/index.html)/ [TalonFXS](https://store.ctr-electronics.com/products/talon-fxs?srsltid=AfmBOoqqZwOLf-awkKtyMj5T4iWLCfy5sBXG5TdGVf0ib4tA5VL2EMvu)會需要用的\n",
    "- REVLib: [SparkMax](https://docs.revrobotics.com/brushless/spark-max/overview) / [SparkFlex](https://docs.revrobotics.com/brushless/spark-flex/overview)會用到的\n",
    "- Studica AHRS(NavX)的陀螺儀會用到的"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 編寫流程"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "vscode": {
     "languageId": "plaintext"
    }
   },
   "source": [
    "Drivetrain/\n",
    "1. 寫 SwerveMod.java\n",
    "1-1. 同時寫Constants.java\n",
    "2. 寫Drivetrain.java\n",
    "3. 更新RobotContainer.java"
   ]
  }
 ],
 "metadata": {
  "language_info": {
   "name": "python"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}