team3039 / 2021-offseason-wildcatswerve Goto Github PK
View Code? Open in Web Editor NEWExperimental Swerve Code incorporating SDS MK3 Coaxial Modules and CTRE CANCoders. Currently in Development.
License: Other
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2021-offseason-wildcatswerve's Issues
Resolve Trajectory Generation with WPILib Trajectory Library.
It seems like WPILib Trajectories work best with Differential Drive and are not built to use the strafing functionality of Holonomic drivetrains.
Resolve this by finding Holonomic-specific trajectory generation in WPILib, using models provided by other teams such as StrykeForce, or conforming to Differential Drive paths with Swerve functionality only being used in TeleOp.
Ensure XBox code is removed and PS4Gamepad code conforms to the ranges of XBox joystick values.
Check Gyro Calibration Soon
Make sure pigeon wraps back around to zero and increases counterclockwise. Set a reversed variable if needed,
Calculate Steer Offsets at Zero Position
Cross Reference 1710 code to calculate offset by printing values of ShuffleBoard when wheels face forward.
Fill in Constants like Track Width when CAD prototype is finished.
Resolve Absolute Encoder Starting Position (Zeroing)
- Figure out a way to make sure CANCoder remmebers its zero position and set it to when all wheels face forward in the code,
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