Does someone have an example of swerve drive code without cancoders; and uses the neo and sparkmax controllers? Thank you.
What encoders are you planning to use?
I think you can only try them with REV client but i don’t have an idea about code
You still need absolute encoders of some kind. I guess technically you could calibrate your modules on each and every power on of your robot, but that’s a pain, and you’ll inevitably forget before an important match.
What modules are you using? SDS Mk4, MAXSwerve, SwerveX?
We have made our modules by ourselves but the base is MK4
The SDS Mk4 modules are intended to be used with a CANCoder. You been “seed” or initialize the NEO encoder with the value from the CANCoder, and run your module rotation PID that way. You could also have periodic synchronisation from the CANCoder to the NEO encoder when no rotation is happening.
You could also use Thrifty absolute encoders to seed the NEO encoders.
See Spark Max Swerve Drive Code - Technical / Programming - Chief Delphi
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