Hey Chief Delphi. I am having some issues with my swerve drive units. I am currently trying to get all 4 units to move simultaneously in the same direction. I am using the AndyMark “Swerve & Steer Module” with a Flacon 500 for driving and the pre-installed 775 for the directional control. My issue is as follows:
All of my units seem to be following the encoder count of one of my motors, the rear right. When I try to manually spin one of the motors, say the front left, I expect it to resist me and return to the desired encoder count after movement, but the only one that does that is the rear right one. When I manually spin the rear right, it resists me and returns to its setpoint, but in doing so also moves all of the other motors as well.
I’m not sure how to fix this issue. I hope I explained it well enough if more explanation is needed I will gladly provide it. I also have a link to my current code here: Github Code.
Thanks for any help you can provide.