We’ve had some issues with the MK3 Swerve and we’ve fixed most of them, but there is still a problem with the wheels aligning that we can’t solve. A random module will start at robot initialization with the offset incorrect, but after moving around and waiting for a short period of time (15-35 seconds) the module will re-align back to the correct position. Our CANCoder magnets are all glued in correctly and the CAN IDs are correct, so if anybody knows what is going on it would be great if you could help.
This issue has occurred with both chassis’ we have built. We are using the default MK3 swerve code from their GitHub with modifications for our robot.