Help with yagsl

duffy · January 17, 2024, 3:11am

My team is new to swerve and yagsl, and I am having a lot of issues getting it to work. Right now I am having an issue where the wheels spin endlessly without me touching the joystick. It seems to me like this would be an issue with motors being inverted, but when I try inverting the angle motor, or encoder, it does the same thing. Here: GitHub - FRC4418/2024_crescendo is a link to the code I am using right now.

Any help would be appreciated.

nstrike · January 17, 2024, 3:26am

Assuming your throughbore is connected to the SparkMax your angle conversion factor should be 360

github.com

FRC4418/2024_crescendo/blob/main/src/main/deploy/maxSwerve/modules/physicalproperties.json#L4


      
          {
            "conversionFactor": {
              "drive": 0.047286787200699704,
              "angle": 28.125
            },
            "currentLimit": {
              "drive": 40,
              "angle": 20
            },
            "rampRate": {
              "drive": 0.25,
              "angle": 0.25
            },
            "wheelGripCoefficientOfFriction": 1.19,

duffy · January 17, 2024, 3:39am

Thanks, that worked

system · January 16, 2025, 3:40am

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