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Swerve Module

Swerve Module Configuration (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
drive Device Y Drive motor device configuration.
angle Device Y Angle motor device configuration.
encoder Device 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.
conversionFactor MotorConfig N OVERRIDE Conversion factor applied to the motor controller for the onboard PID, used to override this setting in swervedrive.json

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.