Hello, I am programming a swerve drive this year and right now it seems to be working correctly except when I try to turn the bot using the right stick the modules don’t go to the same angle, and they face different directions. Here is the code https://github.com/JakeMusa/4717-Swerve-2022.git
update: I fixed it
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What did you fix? So we may all learn?
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All of the motor ID’s were messed up because the build team switched the modules, so the two front modules were diagonal from each other.
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Just dropping in to complement the progress you’ve made on your code since your original help request. You’re making very good use of the available WPILib features!
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Thank you, it’s been a very difficult few years for FRC so I greatly appreciate all of the help.
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Just want to ask another question, but I didn’t feel like making another thread but as of right now our swerve drive has two fatal flaws. The first one is that sometimes the modules can flip 180, so everything becomes backwards and turning doesn’t seem to work well. The second is that when driving straight the robot just turns without any other controller input. Any help is appreciated.
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