Upgrade swerve to use Phoenix 6

team581 / offseason-2023-charged-up

Team 581's main robot code for the 2023 offseason

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Open jonahsnider opened 1 year ago

jonahsnider commented 1 year ago

[x] Convert code to use Phoenix v6
- [x] Update code to set the gearing ratios on the motors, instead of converting on-robot
- [x] Use FusedCANcoder instead of manually resetting the steer motor's position
[ ] Update motor firmware

jonahsnider commented 1 year ago

We should see how team581/offseason-2023-bot-1#33 pans out. We probably want to use the Phoenix 2024 swerve features for this