The encoder pins are hardcoded in the SwerveModule class currently, which means the example project crashes with a HAL overallocation error if more than one SwerveModule is instantiated.
The SwerveModule class in SwerveBot example should take encoder pins in constructor. Note that SwerveModule already takes the motor ports in the constructor.
sciencewhiz
commented
3 years ago
The encoder pins are hardcoded in the SwerveModule class currently, which means the example project crashes with a HAL overallocation error if more than one SwerveModule is instantiated.
The SwerveModule class in SwerveBot example should take encoder pins in constructor. Note that SwerveModule already takes the motor ports in the constructor.