I’ve read that all of your sensor readings should be more positive as you turn the module motors counter clockwise. Is this how the swerve drive kinematics and chassis speeds library expect your drivetrain to be characterized? Since it’s our first time doing swerve we’ve just been testing out each class individually to figure out “what it wants” so to speak so knowing this would make it much easier.Any help is greatly appreciated
I believe that advice is specific to a number of the popular libraries for programming swerve (specifically YAGSL). I would recommend, though, attempting to standardize as much as you can even if you are writing your own code with the WPILib.
If you’re interested in using YAGSL, check it out here: Welcome to Yet Another Swerve Document - YAGSL
I found the wpilib coordinate system docs online which simplified the configuration process a lot. The yagsl configuration docs also helped. Both yagsl and wpilib use the same coordinate system from what I’ve found since yagsl uses wpilib classes behind the scenes anyways. We got swerve working within two days using this.
2 Likes
Happy to hear it!!!
1 Like
This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.