Robot going in circles - Python

FloppyDks · October 22, 2024, 11:24pm

Recently migrated to Python and the robot is currently going in circles. I think it has something to do with the CanCoders not being properly zero’d, but I’m really not sure. Mechanically it’s a swerve drive with CanCoders and SparkMaxes.

Here’s the GitHub with all of the swerve code:

bovlb · October 22, 2024, 11:31pm

github.com

EGR-Robotics/2025/blob/101012bb8b28246951ffee22816350cfd1bd0d14/subsystems/swerve/swerve.py#L37


      
          
          class SwerveDrive:
              def __init__(self):
                  # Define the positions of each swerve module relative to the robot center
                  self.modules = [
                      # Front-left module
                      SwerveModule(
                          FL_DRIVE_MOTOR_ID,
                          FL_STEER_MOTOR_ID,
                          FL_CAN_CODER_ID,
                          Translation2d(0.5, -0.5),
                          FR_OFFSET
                      ),  
                      # Front-right module
                      SwerveModule(
                          FR_DRIVE_MOTOR_ID,
                          FR_STEER_MOTOR_ID,
                          FR_CAN_CODER_ID,
                          Translation2d(0.5, 0.5),
                          FL_OFFSET
                      ),

According to these co-ordinates, your left modules are on the right, and vice versa.