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Re: swerve drive
I'm not familiar with 1640's code, but if it is written for analog inputs and you're wiring it to DIOs, you will need to (at a minimum) modify the code so that the tracking info comes from that source; I would also expect that some sort of rescaling would be required.
Also, I don't really know how to say this, so I'll just rip the bandage off. If no one on your team understands the control system well enough to have already realized what I wrote above, you're a long way from getting swerve working right; you really ought to reconsider putting this on the shelf until after STEAMworks is done and do a different drive chassis this year.
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