YAGSL Code Issue

michael6856 · January 11, 2024, 3:04am

Hi, I’m a team member from Team 7636. This is our first time using YAGSL, Neo, NAVX, and absolute encoders (connected to Spark MAX) for our swerve, we have some issues with those and wonder if anyone can help us.

Here is our code GitHub, and we are using YAGSL-Example, for our Swerve Drive template.

Our main issue is that when we enabled the robot, every motor kept running, and we couldn’t control it.

Another issue is that every “position conversion factor” in Spark MAXes were changed from 1 to 28.125 automatically. Is that correct?

Any help is appreciated.

nstrike · January 11, 2024, 3:08am

For starters these need to be filled out, the value is in inches.

github.com

FRC-7636/7636SwerveYAGSLCodeTest/blob/main/src/main/deploy/swerve/MaxSwerve-Neo-NavX/modules/backleft.json#L22-L25


      
          "location": {
            "front": 0,
            "left": 0
          }

What is the swerve module you are using. The position conversion factor is supposed to change too. However I dont think that is what you want in this case. If you want the position conversion factor for your steering/angle/azimuth motors to be 360 change this line

github.com

FRC-7636/7636SwerveYAGSLCodeTest/blob/main/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java#L76


      
            double driveConversionFactor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(4), 6.75, 1);
            System.out.println("\"conversionFactor\": {");
            System.out.println("\t\"angle\": " + angleConversionFactor + ",");
            System.out.println("\t\"drive\": " + driveConversionFactor);
            System.out.println("}");
          
            // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.
            SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
            try
            {
              swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor);
              // Alternative method if you don't want to supply the conversion factor via JSON files.
              // swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor);
            } catch (Exception e)
            {
              throw new RuntimeException(e);
            }
            swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle.
          }
          
          /**

to

swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, 360, driveConversionFactor);

michael6856 · January 11, 2024, 2:30pm

Thanks for your help. We solved the problem.

nstrike · January 11, 2024, 3:20pm

What was the issue?