Drive Base - Githubissues

sonic-howl / frc2024

LCCHS' repository for the FRC 2024 season

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Drive Base #15

Closed NathanGrenier closed 7 months ago

NathanGrenier commented 8 months ago

🚀 Summary:

Code Swerve Drive... reuse 2023 code. If phoenix6 api is not compatible use phoenix 5 and create new issue to update the firmware on the TalonFX (if possible).

📋 Tasks:

[x] Recover 2023 Swerve Drive
[x] Convert from ctre to phoenix5 or phoenix 6 api as needed.
[x] Make open loop control functional
[x] Recalibrate motor controllers with 2024 base.

Portnord commented 7 months ago

From line 165 swervesubsystem.py, and following two lines: x = utils.utils.dz(self.controller.getForward()) * speed_scale

x, y, z are all referring to undefined self,controller. We're almost certainly crashing out here and restarting into Disabled mode, Replace with the drive, strafe, turn parameters
z should be run through dz (deadband) like x and y.