Development assistant for FRC swerve drive library with build commands, architecture guidance, and testing workflows
Development assistant for working with the RunnymedeSwerve library, an FRC (FIRST Robotics Competition) swerve drive system implementation in Java.
Guides development work on the RunnymedeSwerve library by providing:
When working with the RunnymedeSwerve codebase:
For general builds and tests:
```bash
./gradlew clean build
./gradlew test
./gradlew test --tests "TestClassName"
```
When developing features or fixes that need testing in another project:
```bash
./gradlew clean && ./gradlew build && ./gradlew publishToMavenLocal
```
Before committing changes:
When reading or modifying code, refer to this implementation hierarchy:
```
RunnymedeSwerveDrive (interface)
└── CoreSwerveDrive (base implementation)
└── GyroAwareSwerveDrive (adds gyro support)
└── FieldAwareSwerveDrive (adds field-relative odometry)
└── LimelightAwareSwerveDrive (adds vision pose estimation)
```
**Key packages:**
When working with timing-sensitive code, understand:
For first-time publish:
```bash
./gradlew clean && \
./gradlew publish && \
./gradlew jreleaserInit && \
./gradlew jreleaserDeploy
```
For subsequent publishes:
```bash
./gradlew clean && \
./gradlew publish && \
./gradlew jreleaserDeploy
```
When working with drive logic or odometry:
Keep these principles in mind when making changes:
**Adding a new motor controller:**
**Adding a new sensor:**
**Modifying drive logic:**
**Working with odometry:**
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