Hi, we have an issue with our swerve bot using the SDS mk4 modules and their template code.
We noticed that the code uses the falcon built in encoder for the close loop angle control and occasionally zero themselves using the absolute encoders (CANcoders). We have an issue with the internal encoder angle changing from the absolute encoder position by anywhere from 5 degrees to 90. After waiting for a few seconds the module update the encoder position as intended but this issue repeats after some driving. What can we do about that?
Are the LEDs on the CANcoders green? Rotate the wheels by hand and make sure they stay green for the entire rotation.
Also, I would check to see if you are having CAN bus issues. Check your CAN bus utilization on the drive station. Towards the bottom of the following link…
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