Wheel alignment question

[tfield]

Hi team - question… we are reworking our conversion factor and have already double checked our wheel locations already… but we are seeing this behaviour from yagsl for neo/mk4i. (We started with a good known config). What is causing the front wheels to angle in and the back wheels to angle out for all directions? We’ll run with any pointers you can give! :-)

https://youtube.com/shorts/NZS0mBtpnOs?si=WT6ggLaooA6kpsiT

[thenetworkgrinch]

Great video!

Looking at it I can clearly see your conversion factor is off or possibly your cancoders are not configured for the right modules. YAGSL is commanding it to go the correct directions (as noted by the red lines).

For the conversion factor i just made some more documentation for that here https://yagsl.gitbook.io/yagsl/fundamentals/swerve-modules#conversion-factor

Just so you are aware, use 1 as the encoderPulsePerRevolution im SwerveMath functions calculating the conversion factors. TalonFX's were updated in 2024 for this to be possible, however if you are using a TalonFX steer/azimuth/angle motor wuth the 2023 YAGSL you need to use 2048 for the encoderPulsePerRevolutoon

[tfield]

That was it!! Thank you!!

We will keep tuning it but we will be happy to share our known config if that is helpful.

https://youtube.com/shorts/XXej0P76LUY?si=ZN4tlAjWVJ7IFlSX

[thenetworkgrinch]

Absolutely!! Can you make a PR for it on the repo?

[aliddy23]

For 2023 with Falcon steer motors, would it not be 2048 for encoderPulsePerRevolution? @thenetworkgrinch

[thenetworkgrinch]

It would be, thank you for catching that! @aliddy23