Used WPI Swerve Template code to build a SDS MK2 base code package, and then converted it to MK4I SDS code as well. With both we will occasionally experience code freezes, where the modules will lock at their angle and velocity (or not move at all if the robot wasn’t moving) and not accept new values. Robot code has to be restarted to fix this. Has anybody had this issue?
Code: https://github.com/Team4028/wpiScratchSwerve/tree/MK2Chassis (sorry for the mess)
This sounds like it could be due to losing joystick inputs. This was an issue in 2022.1.1 but was fixed in 2022.2.1 (and later) releases.
The project’s build.gradle confirms that you need to update your WPILIB. Latest release is 2022.3.1.
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