We are having problems with our swerve offsets not working. We have tried:
Random offsets that are not zero(same for all modules)
Offsets that have worked in the past with these same modules(not the same orientation, but at least that would get them to be purposefully misaligned)
Zero offsets
However, the results are the same no matter what offsets we use.
When we enable the robot on its side or on a cart, the wheels all line up and face are correctly aligned with the front of the robot. When we go forward or when we try and drive forward it It doesn’t go forward. It goes to the right of the robot instead. Sometimes the wheels change their forward orientation, and become misaligned.
We have mk4s with the democat swerve library. We are attempting to reuse the same code as last year, which worked fine.
Does anyone have any potential causes or solutions?