Hey, so I finally got a chance to look at my swerve code actually on a robot, and there are three big issues. 1. The encoder values are wrong, and the wheels don’t seem to know where they are in space.
2. One module’s wheel simply drags along (the back left module), and movement from the controls is strange, and robot always turns to move in a direction instead of just moving in the direction as it should.
3. Whenever any control is given, occasionally it just spins in circles, and the modules are out of sync constantly
My code is posted at: GitHub - Mateo-Johnson/RobustSturdy2, and if you need any clarifications feel free to ask
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