The github link to our code is here. Help appreciated.
It looks like we are having similar issues as another thread, and we will go back through that but just wanted to reach out to see if we can get some quick help as our week 0 tomorrow is iffy.
We had a working swerve system last year, but there is something in the new code that is not working for us. Generally, we think we understand the issue that every time we make a code change of any kind, and we download the code to the RIO, the offset is “added additionally” on top of whatever offset was previously into the robot. How we found this last night is that if we align the wheels correctly after the code download is complete, and then try to drive it, it is functional. However, if we make any code download, it will now offset the wheels and be undrivable until we manually re-align the wheels again. Seems like simple problem but we haven’t been able to work it out yet and very frustrated. We are also not certain if our manual re-alignment will work if the robot is re-booted. We came across this semi-breakthrough late last night. If someone could point us in the direction here it would sure be appreciated.