Can anyone confirm or deny that it’s possible to invert a motor when using the CTRE Swerve Project Generator? If so, are you able to invert just one of the motors i.e. just the steering motor or just the drive motor. Or do you have to invert both motors on the module? Do all 4 modules have to be configured the same? I’ve seen that a few teams are flipping their motors to the top of the MK4I but I don’t know if they are using Swerve Project Generator. I don’t see the specific steps in the documentation and we won’t be able to try in person until Tuesday or Wednesday so I wanted to confirm it prior to then if possible. Thanks in advance for any help.
The swerve generator will handle appropriate inversion. It will rotate the steer and ask if it is going counter clockwise (from the top) , if you say no it will invert, it will then drive the wheels and ask if the wheels are turning in a way that would cause forward motion and if you answer no it will invert the drive.
Thanks for the quick response. Will we have to invert motors on all 4 modules? Or will it ask about which individual module(s) are not spinning the correct way? We really only need to invert the center-most motors on our intake side to increase our under-the-bumper intake width. The steering motor on one side and the drive motor on the the other.
It only asked once for all ours were symmetric .
It does generate a TunerConstants.java file and you can change the individual module constructor at the bottom of the file