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Swerve Module
T Grinch edited this page Nov 9, 2023
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10 revisions
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.
| 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
|
| Name | Units | Required | Description |
|---|---|---|---|
| drive | Value | Y | Drive motor value. |
| angle | Value | Y | Angle motor value. |
| 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. |