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Controller Properties
T Grinch edited this page Feb 14, 2023
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1 revision
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. |