I wrote di swift 3 statements in the viewDidLoad of the my MasterController, where I programmatically configure SWRevealViewController (FrontController and RearController) and assign SWRevealViewController() to UIApplication.shared.delegate!.window?.rootViewController, but it it would work also in the viewDidLoad of your initial UIViewController 
let revealController = SWRevealViewController()
// settings to show full screen menu
// set width menu to screen size 
revealController.rearViewRevealWidth = self.view.frame.width 
// hide totally shadow 
revealController.frontViewShadowOffset = CGSize.zero 
revealController.frontViewShadowOpacity = 0 
// optional settings
// no overdraw when dragging
revealController.rearViewRevealOverdraw = 0
// no displacement when animating or dragging the content
revealController.rearViewRevealDisplacement = 0