We’re currently using SDS MK4I’s and having problems with our. Our code is based off of team 364’s falcon based template and team 3512 2022 swerve code. Our setup utilized Neo motors for both drive and turning, CANcoders, and a Pigeon2 for our gyroscope. Our chassis only moves forwards regardless of joystick input, and our turn motors have been unresponsive for the most part. They respond when I have a high P value but are incontrollable as they move by themselves without joystick input. Our most recent code is located here “GitHub - LHS-Steel-Stingers-9452/2024-Stinger-Bot: Official 2024 FRC LHS Steel Stinger Repository” under our “Swerve-Drive-Latest” branch.
Yep, PID tuning can be difficult, and good on you for attempting it yourself! I’m going to take a bit and look through your code to see if I can figure out what might be causing the translation to be constantly forward.
Also as a quick plug, have you checked out YAGSL (Welcome to Yet Another Swerve Document - YAGSL)? It might help you more quickly stand up your swerve code with competitions coming up so soon.
If you can can you update the thread title to have a bit more detail? Something along the lines of : Swerve PID tuning and joystick input issues
This will help get more eyes on the thread vs a generic title.
I will do that now thank you!
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I’m looking over the YAGSL documentation right now
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