AdvantageKit SparkMax Swerve code base doesn't drive the rotation motors

Technical Programming
1

This year I thought I would start our code base with the AdvantageKit from Team 6238. I started with this documentation link:

I pulled in there code, did some small modifications to support NEO motors and SparkMax Controllers for all motors. It compiles and runs on our robot. But it doesn’t rotate the swerve drive rotational motors. Our code is here:

Any ideas why it doesn’t rotate the rotation motors? In AdvantageScope, I can see the command position is correct. I suspect it is something minor. This code is substantially different than what we did last year and I’m still trying to understand it.

Thanks in advance.

2

Are all of your can ids set correctly? Do you have any output from the running robot?

3

Yes I can see the relative encoder change if I rotate the swerve drive.

4

We are facing the same issue in our team. We updated the code for 2025, but the SparkMax controllers couldn’t move the motors. We discovered that the issue was related to the PID settings for the modules. We adjusted the settings according to this example: Closed Loop Control Example.

However, since our hardware uses TalonFX motors for driving and SparkMax for turning, we decided to stick with the 2024 code updated for 2025. The example from REV I mentioned can also help you.

Additionally, I noticed in your code that you instantiated the controllers using SparkBase, which, from what I understand, is an internal class in the library intended for controller configuration. You should instantiate SparkMax directly instead. This link can help you with controller configuration: Migrating to REVLib 2025.

Could you send a video showing the behavior of the modules and also the log file that shows this problem?