Swerve Drive Help

joliet_cyborgs · February 11, 2015, 1:35pm

Our team is trying to implement swerve drive for the first time and we are having problems with oscillation on our steer motors and the steer motors not getting to the setpoints properly. The setpoints seem to be calculating just fine however. We are using MA3 absolute analog encoders and CANTalon motor controllers for all 8 of our motors. Our encoders are coupled directly to the shafts of the steer motors.

Here is our code for reference. It is a stripped down and simplified version of team 16 BombSquad’s code from last year:

joliet_cyborgs · February 11, 2015, 6:06pm

Nevermind! We fixed it. It was all the build team’s fault.

ozrien · February 11, 2015, 7:10pm

Can you explain what the root cause was, and how you figured it out? Might help another team.

Also I was curious…

Jefferson · February 11, 2015, 7:54pm

I’ll let them explain it, but, given their code base, I was happy to hear it wasn’t code related.

joliet_cyborgs · February 11, 2015, 9:05pm

Thanks again Jefferson! So helpful! The leads to the steer motors were reversed. When we switched the leads or instead just put in a negative P value in our PID for the code, it worked. Not sure why it caused the motors to behave in the way they did. Someone more technically versed than I can probably explain it better.