Hi my team is currently having some issues with our swerve, we are using the flipped x model, and when ever we set the robot to drive straight, it rotates a little bit, we arent exactly sure if its a problem with our carpet, or a mechanical issue or programming, what we suspect is that it has something to do with the PID of the swerve, we are using the code generated by CTRE, here is the code and here is a video of the video
When was the last time you did a wheel alignment?
We’ve found that tiny adjustments (like one degree) in the steering alignment make a big difference with this kind of thing.
Also, if you expect to maintain any sort of position (e.g. rotation in this case), you should really have some sort of feedback control.
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