Swerve Drive Turning Wheels not moving

Mehmetly00 · January 27, 2024, 11:57am

So as you can see in the video the drive motors are moving but the turning motors are not rotating when I use the right joysticks x-axis(instead of turning I think the drive motors are moving)
GitHub - Legenderyguy/G-Force-Robot-Code at master Robot Code here is our robot code. (Im using BaseTalonFX library btw)

mkauffman · January 27, 2024, 7:14pm

It doesn’t look like you are setting PID values–I believe the default values are all zero, which would cause the modules not to rotate

You can set the PID values either in code as per the Spark Max code example:

github.com

REVrobotics/SPARK-MAX-Examples/blob/master/Java/Position Closed Loop Control/src/main/java/frc/robot/Robot.java#L57-L62


      
          m_pidController.setP(kP);
          m_pidController.setI(kI);
          m_pidController.setD(kD);
          m_pidController.setIZone(kIz);
          m_pidController.setFF(kFF);
          m_pidController.setOutputRange(kMinOutput, kMaxOutput);

CTRE has a nice guide on how to PID tune:

Hope this helps!