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.java 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.
| Name | Units | Required | Description |
|---|---|---|---|
angleJoystickRadiusDeadband | Double | Y | The minimum radius of the angle control joystick to allow for heading adjustment of the robot. |
heading | PID | Y | The PID used to control the robot heading. |