This year we have been trying to program a swerve with WPILib and it seems to not support the CTRE Absolute CANCoder. Is there an example or a fork with support for the CANCoder?
Could you explain your problem in more detail? Swerve Drive Kinematics — FIRST Robotics Competition documentation doesn’t seem dependent on any particular feedback sensor.
Or are you having trouble taking the SwerveModuleState object and using it to have your modules reach their goal angles?
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