Controller Properties Configuration
Swerve Controller (controllerproperties.json
)
controllerproperties.json
)The Swerve Controller stores configuration options relating it how the swerve drive works during autonomous and drive modes which set the heading of the robot based off a joystick. The JSON files maps 1:1 with ControllerPropertiesJson
which creates a SwerveControllerConfiguration
. The values within here are EXTREMELY important to autonomous because the robot heading PID needs to be tuned correctly in order for Autonomous functions to work.
Fields
Name | Units | Required | Description |
---|---|---|---|
| Double | Y | The minimum radius of the angle control joystick to allow for heading adjustment of the robot. |
| Y | The PID used to control the robot heading. |
Example Configuration
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