CTRE swerve consistently goes half the distance in auto

Billy.P · November 5, 2024, 11:22pm

Our drive base will only ever go half the distance that we tell it to in path planner. The code for swerve was generated with Phoenix Tuner X.

Any suggestions or help is greatly appreciated.

frc2609/generated-swerve

Skyehawk · November 5, 2024, 11:28pm

Likely some conversion factor issue.

Others will ask you to post a link to your code, so…

kn4 · November 5, 2024, 11:41pm

Your code has the wheel radius set as four inches:

github.com

frc2609/generated-swerve/blob/main/src/main/java/frc/robot/generated/TunerConstants.java#L69


      
          // Theoretical free speed (m/s) at 12v applied output;
          // This needs to be tuned to your individual robot
          public static final double kSpeedAt12VoltsMps = 10.81;
          
          // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
          // This may need to be tuned to your individual robot
          private static final double kCoupleRatio = 3.125;
          
          private static final double kDriveGearRatio = 5.902777777777778;
          private static final double kSteerGearRatio = 21.428571428571427;
          private static final double kWheelRadiusInches = 4;
          
          private static final boolean kInvertLeftSide = false;
          private static final boolean kInvertRightSide = true;
          
          private static final String kCANbusName = "";
          private static final int kPigeonId = 0;
          
          
          // These are only used for simulation
          private static final double kSteerInertia = 0.00001;

This is unlikely for a swerve drive robot. You probably forgot to divide the wheel diameter by two when inputting the wheel radius into Phoenix Tuner X. Regenerate the TunerConstants.java file from Tuner (with corrected settings) and try again.

Billy.P · November 6, 2024, 12:11am

Makes sense, thanks a ton. We’ll try it in the next few days.