Swerve Drive Problems

hamitHangel · November 24, 2024, 7:41pm

so im using a new standart code for my swerve , my wiring is good , my id’s and offsets are good , when im driving it the robot drives good but when trying to rotate the 2 back wheels are working good and the 2 front one miss 90 from the rotating position , any ideas why is it caused?

Arrowmag · November 24, 2024, 11:45pm

Hi, could you please post a link to your code. Also could you please provide more information about your problem, code, and hardware.

AvocadoPeel · November 25, 2024, 1:25am

could be a module position offsets are flipped for the two front modules

Ledesma · November 25, 2024, 2:52am

A problem my team faced, was this similar to this situation, and the reason why they weren’t rotating the correctly was because of the module locations not being setup correctly. To fix it you would need to switch the Translation2d measurements of the modules in your code that are not behaving correctly.

Stormbreaker · November 25, 2024, 6:17am

Sounds like the front modules might have the wrong offsets or the zero positions aren’t set correctly. Even if the offsets seem fine in code, I’d double-check them by physically aligning the wheels to their correct orientation (like all pointing forward) and re-calibrating. Sometimes the offsets can look good but still be off if something got flipped during setup. Also, make sure your code isn’t accidentally reversing the direction for those front modules during rotation. Could be a small bug in how the angles are calculated for turning.

hamitHangel · November 27, 2024, 1:23pm

it helped me with the turning now its good but my field relative drive doesnt work and all of my calculations are good

Ledesma · November 27, 2024, 10:19pm

Could you describe the problem? Are you providing a robot angle with a gyroscope? Could you also link your code to take look?

hamitHangel · December 4, 2024, 5:56pm

i am using the limelight 3G and the pigeon 2.0 , my problem is when jnot moving mt robot jumprs in place cause of bad measurments

Skyehawk · December 4, 2024, 6:08pm

This is almost certainly the issue for the initial issue. And if you swapped the wrong modles around could make some weird things happen in field relative drive.

Ledesma · December 4, 2024, 9:06pm

Would you be able to provide what the code is supposed to do? And would be very much appreciated to be linked to some code.
Do you set your angle in a similar way?
We organize it as seen here:

github.com

Team5430/TestBed/blob/State-driven/src/main/java/frc/robot/subsystems/Drive.java#L86


      
                      DriverStation.reportError("Invalid Robot Type", true);
                      break;
                  
          
                  }
          
              ResetHeading();
          }
          
          // Drive methods
          public void control(ChassisSpeeds input) {
              new TernaryVoid(
                  booleans.RobotisReal(),
                  () -> new TernaryVoid(
                      () -> isFieldCentric,
                      () -> driveTrain.fieldCentricDrive(input, getRotation2d()),
                      () -> driveTrain.robotRelativeDrive(input)
                  ),
                  () -> simDriveTrain.robotRelativeDrive(input)
              );
          }