Swerve Drive Weight Distribution

I am the programmer for Team 3374, we are currently working on a swerve drive and having some issues to get our robot to drive straight and it seems to be related to the robot’s weight distribution. We cannot change the weight distribution of our robot without much redesign. We are using the SDS Lib with the SDS MK3. Is there a way that we can tune this issue in code to make it drive more straight?

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Have you tuned your feedforward/feedback controllers separately for each module, or are you using common settings?

Edited to add: You can probably get a lot of improvement by tuning the feedback/feedforward, even with common settings, so do that first if you haven’t already.

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