[Tyler2517]

Swerve realignment is interesting my team had some problems early on in the season because we were new to the drive train.
We used thermal press fits to connect the coaxial shaft(outside shaft) to the top of the pivot yoke. We had one that was welded and the other 3 were using the press fits. The ones using the press fit slipped a lot during our first district.
In our second district we only had a slip ever 3 or 4 matches. In our last district we had no slips but we did loss a module after being catapulted by another robot.

The slipping was a major problem for us and in the future we plan on using a limit switch to automatically calibrate in a match.

When only one module was lost and it would just spin in place powered or not or just sit still our other 3 would just over power any movement it would say we would see a noticeable drop in top speed and acceleration.

Once the mechanical slip stopped we did not have any problems.