Calibrate swerve drive module absolute encoder offsets and directions

RobotCasserole1736 / RobotCasserole2024

Main 2024 Robot Code for FRC Team 1736 Robot Casserole

https://robotcasserole.org

MIT License

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Calibrate swerve drive module absolute encoder offsets and directions #42

Closed gerth2 closed 7 months ago

gerth2 commented 9 months ago

Run the calibration procedure to set up absolute rotation sensor offsets (see code comments)

Make sure to set inversions so rotation directions match the dashboard for all four modules. Note the back two motors were flipped over, so it's likely at least some of those will need some inversion

AbbyJune commented 8 months ago

Done on practice bot... waiting on real.