pic: 3216 Swerve

[ekapalka]

Originally Posted by Andrew Lawrence

If you know the ratio between the output shaft of the VersaPlanetary and the rotation of the module you can compensate for a non 1:1 ratio in the code.

Yeah but that means that the modules have to be perfectly aligned every time its turned on or the wheels have to be in the same orientation when the robot is turned on as when it was turned off (and the last angle value would have to be persistently saved so it remains between reboots). I'm also the programmer, so I'm trying to avoid having to do that