Migrating YAGSL 2023 to 2024 Issue

Technical Programming
1

Hello to all on CD
First of all, we wanna say a big thanks to YAGSL crew. This is a great resource.

We have a SDS MK4i-L3 swerve system. This has a NEO’s at drive and angle, cancoder and a Pingeon2 to IMU.

At 2023 version, this works great. It was a really nice. But we are trying to migrating but it didn’t works. We follow migrating instructions, we try to generate a new set of config files, but our swerve system still not work. The angle motor turn with no command, the drive motor starts and stops with no reason.

Can you guys give us some insights?

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2

When asking for help with programming-related topics, please be sure to share your code (preferably as a link to github or similar). Otherwise can can only guess at what might be going on. A description of the hardware/control system design (whats plugged in where) is also useful, which you provided most of, so thank you for that.

3

Sorry for this fails.
Our code with WPILIB and vendorlibs 2023 is this
2023 code

Our actual code with 2024 code is this
2024 code

Our system has 8 sparkmax’s, 4 for drive, 4 for angle. At each module we have a Cancoder, and for IMU we are using Pingeon2.0

The CAN network are working well with 2023 system, and others subsystems are working too with the updated system. So we think the CAN network isn’t the trouble. Reading some posts here we think maybe could be angle offset or PID configs. But, as I said before, this offsets works at 2023.

Looking at FRC Webdashboard we see the system ar trying to set all to right direction, but is going to all direction with no control

4

Your conversion factors in phyisicalproperties.json seem to be off, please correct them and try again.

They should be

"conversionFactor": {
	"angle": 16.8,
	"drive": 0.05215454470665408
}

not

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5

Thank you a lot!!!
I’ll try this this afternoon. I’ll post the results.
Thanks again

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6

Hello, we have tried with this configs, but It stills not working. The drivetrain Works randomilly, and we hás almost any Control. We update our code at github

7

Can you send a video using FRC Web Components?

Also delete this folder

and install yagsl using the vendordep url.
https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json

I am not seeing the updated code too?

8

I think i see your code on a test branch.

Can you try uninverting all of the angle motors in the module JSON files here.

https://github.com/TechMakerRobotics-frc/Robo2024/blob/TESTE_SWERVE/src%2Fmain%2Fdeploy%2Fswerve%2Fmodules%2Fbackright.json#L19

9

Sorry, at desktop my students has The master branch, but de default branch is main. Look like some trouble between github and tortoise app.

The correct code is here. I’ll Merge The banches soon
Robot 2024@master

10

Here is the vídeo. We try to Go only x or y.

Web dashboard and drive

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11

Can you set the drive and angle motor inversions to true for all modules then send a video?

Are you sure those 2 modules that are giving you issues are assembled correctly?

Your frontleft and backleft module use different inversions than the frontright and backright (which appear to be working just fine).

12

Hello, I’ll be at our space by afternoon and Will try this inversions.

We believe The modules assembly is right because this was working at 2023 version. If we downgrade version again, everything Works well

Thanks for ALL help at here, and sono I post The video

13

I will have to look at both at the same time to find out what’s going on. I suspect you didn’t migrate correctly somehow. Did you set the maximum speed correctly to what you used to have?

14

Hello again. We configure ALL motor inverter and It Works , with left inverter. We then set drive to false and this looks like is working.

We will test this a much more, but for now we really need to thanks you a Lot. You até The best guys.

We will put this interaction at our books, saying How much we appreceate what you do for us

15

Glad that it’s working! Good luck this year!!

16

Hello johnnydreher,

My team is also having issues migrating to the new year of YAGSL.

In 2025, are you using SWS MK4i modules with L2 gear ratio, NEOs, SparkMax, CANcoders, Roborio 2, and Pigeon2?

Perhaps maybe you can help us?

Thank you!