Hey so I’m trying to tune our sparkmax swerve and we’re running the Sysid routine that used to work pretty well for it. Today we’re trying to retune it to fix auto issues but it’s stuttering a ton and when we were running it some of the swerve modules started to smoke. Im genuinely so confused because it used to work.
Here’s the link to our drivetrain code: 2024-Crescendo/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java at main · teamkomodo/2024-Crescendo · GitHub