YAGSL Wheels moving to X when no controller input

Technical Java
1

Hello, we are using YAGSL with out Mk4i with neos and a navx. Everything is going good, but when there is no input from our controller the swerve modules all move to an angle which forms an X. How can we disable this?

Thanks

2

Update to the latest version or dont nc if this happens when theres no controller input it doesn’t matter?

3

It is when teleop is enabled. We will be pushing forward on the stick and when we let go all of the swerve modules turn to an X shape.

4

Ah in that case i have the fix in my documentation under “Configuration” page.

5

Okay, we took a break from swerve but we want to get it driving soon. It sound like I have my modules misconfigured or the can ids are wrong. I have another question, in the YAGSL mk4i config the angle conversionFactor is 28.125, but I have seen your posts and you tell people with this config to use 16.8.
{
“conversionFactor”: {
“drive”: 0.047286787200699704,
“angle”: 28.125
},
“currentLimit”: {
“drive”: 40,
“angle”: 20
},
“rampRate”: {
“drive”: 0.25,
“angle”: 0.25
},
“wheelGripCoefficientOfFriction”: 1.19,
“optimalVoltage”: 12
}

6

I created this page to help with standard modules, you may have confused your module with a MK4.

7

We have it working with 16.8. I was referring to this Github page for mk4i neos. I just want to make sure other teams don’t look at the angle conversion factor and get the wrong idea. YAGSL-Configs/sds/mk4i/neo/modules/physicalproperties.json at main · BroncBotz3481/YAGSL-Configs · GitHub

1 Like
8

Thanks for letting me know! I just corrected that!

9

We are still have some trouble with swerve. I was hoping you could our team dissect what is happening. Here is a video with the frc web components.

It seems like we might need to invert some motors, but I’m also confused why in startup they start as an X and when there is no controller input the turn into an X again. Our team would like it to not turn into an X unless specified because if we are moving the down the field fast and then try to coast, this will destroy the modules.

10

Can you rotate in place?

11

No we can not, unsure if that is because of the controller or not. We are not using an xbox controller rather a different controller and I ran out of time to see if it was reading the right axis

12

If it wasn’t rotating in place what would that mean?

13

I think your issue may be rooted in that more than what you think. What you are seeing may be a side-effect of having the module IDs in the incorrect files.

14

If it wasn’t getting the rotational value from the controller, is it possible that is what is causing the swerve wheels to move into an X? I have worked really hard to make sure cancoder ids line up with the modules (double checked them today).

15

We have a meeting tonight. I’ll work on debugging and report back

16

Very much so.

17

I dont doubt it, that isn’t the problem, the problem maybbe entire modules were swapped (cancoder + angle motor id + drive motor id)

18

Okay, thank you for giving some me avenues to look into. I appreciate all of the work you have been doing for the community developing this software and constantly answering our questions :grin:

1 Like
19

I can confirm all of our cancoders, drive and angle motors are in the correct modules. Our gyro is also connected and facing the right way. Here is a link to out github repository if you can take a look.

20

Can you follow this guide i just wrote?