My team just got swerve this year, and we are having some problems with our back right module. The wheel rotates approximately 10 degrees too far, and then sometimes corrects itself, and then sometimes doesn’t. We swapped the encoder with one that we know works, swapped the rotation motor with one that works, and we are still having problems.
We are using SparkMAXes, Neos, and Thrifty magnetic encoders on MK4I modules
our repo: GitHub - team-5438/YAGSL-Swerve
You have a little redundancy in your code which will cause issues, don’t define the conversion factors in your modules unless they are different than the one in physicalproperties.json this makes it so you only have to modify the one in physicalproperties.json and not all 4 files.
With that in mind delete these.
You may also have loose magnets that aren’t glued/loctited in correctly, or you need to grease the gears.
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