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FRC1076 / 2023-Competition

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Swerve tuning #5

Closed numerator closed 1 year ago

numerator commented 1 year ago

New List -Try Soren and Ingmar's branch -Go through line by line and verify what is happening with all inputs -Implement unit testing to confirm that outputs are correct for given inputs -Measure drift in encoders with robot on blocks -Change to driving motors based on RPM rather than voltage

Old List -Remove drift. -Remove wheel snapping to default position. -Test variable chassis dimensions -Allow for variable center of mass -Add wheel-lock (all wheels oriented perpendicular to center of mass)

numerator commented 1 year ago

Why did we have to hack for blue? Going in wrong direction. Controls are flipped when 90 or 270.

Alexyglenn commented 1 year ago

Fixed, except for a small amount of wheel snapping.