Swerve drive kinematics. Normalize wheel speeds says it is undefined

FIRST
1

This is our first year with swerve trying to get it work smoothly. This swerve drive kinematics says that it is undefined.
Any ideas ?

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2

Can you link your code via github?

3

Are you looking for desaturateWheelSpeeds?

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4

I am not sure I got the code from the video 0 to autonomous.

5

Tried it but still won’t run smoothly

6

Check the comments of that video. Some of the code no longer works due to a WPILib update changing how a few of the functions behave.

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