swerve-module-configuration.md

Swerve Module Configuration

Swerve Module Configuration (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.

{% hint style="warning" %} IF your angle motors spin out of control then you may need to invert them in inverted {% endhint %}

{% hint style="warning" %} 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! {% endhint %}

Fields

Name	Units	Required	Description
drive	Motor Controller	Y	Drive motor device configuration.
angle	Motor Controller	Y	Angle motor device configuration.
encoder	Absolute Encoder	Y	Absolute encoder device configuration.
inverted	MotorConfig	Y	Inversion state of each motor as a boolean.
absoluteEncoderOffset	Degrees	Y	Absolute encoder offset from 0 in degrees. May need to be a negative number.
absoluteEncoderInverted	Bool	N	Inversion state of the Absolute Encoder.
location	Location	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.
conversionFactors	Conversion Factor Composition Overrides the value in physicalproperties.json if present and not equal to 0.	N	OVERRIDE Conversion factors applied to the motor controller for the onboard PID, used to override this setting in swervedrive.json
useCosineCompensator	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
drive	Value	Y	Drive motor value.
angle	Value	Y	Angle motor value.

Location

Name	Units	Required	Description
front	Value	Y	Inches from robot center to module in forward direction.
left	Value	Y	Inches from robot center to module in left direction.

Example Configuration

{
  "drive": {
    "type": "sparkmax",
    "id": 2,
    "canbus": null
  },
  "angle": {
    "type": "sparkmax",
    "id": 1,
    "canbus": null
  },
  "encoder": {
    "type": "cancoder",
    "id": 10,
    "canbus": null
  },
  "inverted": {
    "drive": false,
    "angle": false
  },
  "absoluteEncoderInverted": false,
  "absoluteEncoderOffset": -50.977,
  "location": {
    "front": 12,
    "left": -12
  }
}