Hi guys,
I just deployed code to our robot, and due to an overturned PID constant, the wheels began to oscillate around a single point.
Because of this test, none of the wheels of our swerve base are pointing straight anymore. Anyone got a solution(code or not) to solve this? We need the wheels pointing straight again for encoder offsets.
Further note: Setting the azimuth angle directly in code might not work, as the encoder offsets aren’t configured yet
You’ll need to manually straighten the wheels to measure your absolute encoder offsets, and then it should be able to correct itself. The absolute encoders tell the robot each modules position but they do not start perfectly aligned, which is why you need angle offsets. There is no way for the wheels to correct themselves automatically without your angle offsets for your absolute encoders.
Manually striaghten them and then add set that position to you “0”, it happens to us on occasion
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