Swerve spinning erratic after putting bot in Teleop mode with yagsl example code

nstrike · January 9, 2025, 10:22pm

Yeah i think you’re having problems with your connection to your pigeon or power to it.

ambrish3281 · January 9, 2025, 10:35pm

Thanks. I have tug tested connections and it looks okay so far.
I do see consistent reading in AdvantageScope for Raw IMU Yaw also when I am pressing the forward button.

nstrike · January 9, 2025, 11:30pm

To tune your angle wheels follow this page and look at these videos.

ambrish3281 · January 10, 2025, 11:05pm

Thank you @Fletch1373 . I will comment out line 136 in yagsl_example/src/main/java/frc/robot/Robot.java at main · ambrish3281/yagsl_example and give it a try.

Right now, whenever I enable Teleop mode, I see all wheels moving for a few seconds until it stops. Not sure if it is related to above line of code. Will check it out by commenting it out.

Thanks a lot for all your prompt help and guidance! Team really appreciates it.

ambrish3281 · January 10, 2025, 11:12pm

Thanks @nstrike . I will be doing this over the weekend and will let you know how it goes.
Appreciate all your help and guidance!

ambrish3281 · January 12, 2025, 4:34am

After changing canbus to rio below error is not seen anymore.

CAN frame not received/too-stale. Check the CAN bus wiring, CAN bus utilization, and power to the device.
from: pigeon 2 13 (“”) Status Signal AngularVelocityZWorld
at: Stack Trace not received for performance reasons.

github.com

ambrish3281/yagsl_example/blob/main/src/main/deploy/swerve/swervedrive.json#L5


      
          {
            "imu": {
              "type": "pigeon2",
              "id": 13,
              "canbus": null
            },
            "invertedIMU": false,
            "modules": [
              "frontleft.json",
              "frontright.json",
              "backleft.json",
              "backright.json"
            ]
          }

But is that the right approach?

Thanks!

nstrike · January 12, 2025, 4:36am

What error?

ambrish3281 · January 12, 2025, 4:37am

Sorry I was referencing to above error .

nstrike · January 12, 2025, 4:46am

Is there any obvious affects from this?

ambrish3281 · January 13, 2025, 4:32am

I don’t see any visible difference so far.
But original problem remains the same.
There are two issues we are seeing.

Everytime I enable the Robot in Driver Station, wheels spin for a few seconds and than stops.
When I want to go forward in teleop with joystick, wheels are spinning in pretty much all the directions.

I am attaching both vidoes from the AdvantageScope which captures this behavior.

Any pointers/suggestions will be greatly appreciated!

Thanks a lot!

ambrish3281 · January 13, 2025, 4:33am

our latest code is at ambrish3281/yagsl_example

nstrike · January 13, 2025, 5:09am

What modules are yiu using again? This can happen if you set the wring conversion factors or inversion states or if your magnets aren’t a good distance. MK4’s do not have the same conversion factors as MK4i’s

ambrish3281 · January 13, 2025, 5:15am

We are using MK4i

icemannie · January 13, 2025, 12:16pm

YAGS is “2025.2.0-beta2”, on Github
Should be 2025.1.3-1