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I think it would be quite helpful if there was an Advanced Swerve Skeleton that included support for onboard feedback and feedforward loops with TalonFX motors. This is essential for many teams in red…
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Try to implement this to improve turning while moving.
https://github.com/Team254/FRC-2023-Public/blob/main/src/main/java/com/team254/lib/swerve/SwerveSetpointGenerator.java
More wpilib first version…
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- [ ] Limit drive output while pods rotate to desired angle
- [ ] Switch steering to use on-board PID
- [ ] Steering motor current limits
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**Summary**
Just some minor things we should probably do to make the swerve driver better at driving so we can play good defense.
**Work Required**
- desaturate teleop wheel speeds (if one of th…
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**Is your feature request related to a problem? Please describe.**
`SwerveModuleState` currently has a great function `optimize()` that considers the wheel and will take the shortest angle and revers…
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First problem... diagnose the problem... is it:
a) wheels are initially given an incorrect offset
- [ ] solution: re-calibrate using jig after every drift problem
b) each time wheels are applie…
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either per subsystem or as a utill function a system is needed to control how fast motors, mainly drive motors can accelerate and decelerate.
Both swerve and tank codes along with general motors s…
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We're huge fans of the swerve builder API, and have really enjoyed how quickly we are able to get robots working using the robust driving features it provides. Unfortunately, we've recently experience…