Swerve Module
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.java
which is used to create SwerveModuleConfiguration
. This configuration file interacts directly with swerve kinematics.
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. | |
| N | OVERRIDE Conversion factor applied to the motor controller for the onboard PID, used to override this setting in |
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. |
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