We updated Phoenix Tuner X Preview to the latest Beta-3 version and are trying to run Builder to generate CTR project.
However, it fails to detect Cancoder speed, which shows up in the builder warning as 0.
But if we turn the wheel by hand, and look at the cancoder values, they show the speed and positional change.
Could you check what’s wrong with the builder, please? Unless I am not doing something right? Note that the same warning occurs when doing testing for ANY swerve module.
All firmware is updated to Beta-3.
Can you make sure to deploy the temporary diagnostic server in Tuner before going through the swerve wizard?
A button is available in settings
Update - it seems it automatically runs diagnostic server, and it’s version 25.0.0 (Oct 30). So, then I go to the motor, it shows up, but says it’s not compatible.
How may I update the version of the server?
Thanks.
Also Phoenix Tuner X Preview version is 2025.1.1.0
Ah. Swerve Generator for Beta 3 requires Tuner 2025.1.2.0. It takes a couple of days to be published, but it should be up by Monday.
Sorry for the inconvenience. In the meantime, you could downgrade your firmware to 25.0.1
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Thanks. I can wait. The problem is - we retrofitted our code from 2024 to 2025, but we found that the swerve steering does not behave well anymore from PID point of view. The wheels when trying to turn to angle overshoot, rotate back, overshoot again, and it takes a while to stop the jerk.
We use Voltage PID on steering. I downsized P from 100 that we had to 44 and actually set D to 0.003, and these settings had SOMEWHAT acceptable drive (still jerking but much less).
I thought that it might be an issue with our retrofit as a number of API methods changed. So, I thought regenerating the code with the builder.
I’d rather use the latest builder, as I noted more API changes in Beta-3, one being the reverse boolean for cancoder.
As a matter of the update - I got the new version of the Phoenix Tuner X and generated a new repo with the drive code.
And that code works absolutely fine, no issues. I started comparing it with our retrofit from 2024, and noted quite a few new parameters set in auto-generated code related to the robot physics!
That will allow us to retrofit our code with the new parameters and making things working well again! Thanks much for the expedient work on it. This really helps us to prepare for the 2025 season.
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