Swerve Drive Testing

[drewwhis]

We need to make sure the Swerve drive works consistently.

• Check that the wheels turn in an appropriate direction
• Check that the robot's speeds are what we expect
• Check that the turn motors work with the absolute encoders appropriately

Feel free to add notes.

[drewwhis]

A good test for this would be to set the x speed to 1 and the y and yaw speeds to 0. If the wheels are not pointed straight, there should be an angle reading (from the absolute encoder).

Fortunately, each module's offset should be consistent, so we can measure that difference and physically correct it or add a field to correct it programmatically.

[drewwhis]

Okay, reading through some docs and thinking about what we've tried so far, here are some ideas I have:

• [x] Let's take out the -180 we put in yesterday. I don't think it's needed, and I think it's why we can't move backwards.
• [x] Let's look carefully at the module locations (FL, FR, RL, RR) and their ordering in the code
• [x] Let's look carefully at the directions (x, y, positive, negative)

@HeathHudson @mwn319