Swerve Module Configuration
Swerve Module Configuration (module/x.json
)
module/x.json
)The swerve module configuration configures unique properties of each swerve module. It maps 1:1 with ModuleJson
which is used to create SwerveModuleConfiguration
. This configuration file interacts directly with swerve kinematics.
IF your angle motors spin out of control then you may need to invert them in inverted
IF your drive motors spin uncontrollably you may have the drive motor set to be the angle motor via the ID's. Be sure to check them!
Fields
Name | Units | Required | Description |
---|---|---|---|
| Y | Drive motor device configuration. | |
| Y | Angle motor device configuration. | |
| Y | Absolute encoder device configuration. | |
| Y | Inversion state of each motor as a boolean. | |
| Degrees | Y | Absolute encoder offset from 0 in degrees. May need to be a negative number. |
| Bool | N | Inversion state of the Absolute Encoder. |
| Y | The location of the swerve module from the center of the robot in inches. +x is torwards the robot front, and +y is torwards robot left. | |
| MotorConfig
Overrides the value in | N | OVERRIDE Conversion factor applied to the motor controller for the onboard PID, used to override this setting in |
| Bool | N | Disabled cosine compensation which scales the velocity of modules which are not completely aligned with desired angles by the cosine of the difference between the angles. |
MotorConfig
Name | Units | Required | Description |
---|---|---|---|
| Value | Y | Drive motor value. |
| Value | Y | Angle motor value. |
Location
Name | Units | Required | Description |
---|---|---|---|
| Value | Y | Inches from robot center to module in forward direction. |
| Value | Y | Inches from robot center to module in left direction. |
Example Configuration
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