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Re: Programming Swerve Drive
if you are using absolute shaft magnetic encoders you have to get it trough an analog channel(how it's called in java)
I dont think you can use one PID subsystem for all your wheels, we used Talon SRX controllers so we could use their PID closed loop and put our swerve drive in a regular subsystem. Correct me if i'm wrong, but you have to use 4 subsystems only for wheels rotation
I recommend you control each wheel's angle individually so they will get to their setpoint no matter what. (each wheel has it's own PID, so you don't send all motors the same command that would mess with synchronization with time.)
if you have any questions on that, feel free to send me an email
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