Swerve Drive

deploy/swerve/swervedrive.json

Module Properties

deploy/swerve/modules/physicalproperties.json

Optimal Voltage

Robot Weight (in lbs)

Grip Coefficient of Friction

Current Limit Drive

Current Limit Angle

Angle/Steering/Azimuth Gear Ratio

Angle/Steering/Azimuth Conversion Factor (optional)

Wheel Diameter (in)

Drive Gear Ratio

Drive Conversion Factor (optional)

Ramp Rate Drive

Ramp Rate Angle

Front Left Module

deploy/swerve/modules/frontleft.json

Location X

Inches (+x is towards robot front)

Location Y

Inches (+y is towards robot left)

Absolute Encoder Offset

ONLY SPARKMAX'S ARE SUPPORTED FOR BRUSHED MOTOR CONTROL!!
If you are using brushed motors you must set the CAN Bus option to one of the following:
greyhill_63r256
throughbore
throughbore_dataport
greyhill_63r256_dataport
srx_mag_encoder_dataport

Drive Motor Type

Drive Motor ID

Drive Motor CAN Bus

Drive Motor Inverted

Angle Motor Type

Angle Motor ID

Angle Motor CAN Bus

Angle Motor Inverted

IF you are using an absolute encoder attached to your SparkMAX this should be 360 for the angle motor conversion factor.

Absolute Encoder Type

Absolute Encoder ID

Absolute Encoder CAN Bus

Absolute Encoder Inverted

Front Right Module

deploy/swerve/modules/frontright.json

Location X

Inches (+x is towards robot front)

Location Y

Inches (+y is towards robot left)

Absolute Encoder Offset

ONLY SPARKMAX'S ARE SUPPORTED FOR BRUSHED MOTOR CONTROL!!
If you are using brushed motors you must set the CAN Bus option to one of the following:
greyhill_63r256
throughbore
throughbore_dataport
greyhill_63r256_dataport
srx_mag_encoder_dataport

Drive Motor Type

Drive Motor ID

Drive Motor CAN Bus

Drive Motor Inverted

Angle Motor Type

Angle Motor ID

Angle Motor CAN Bus

Angle Motor Inverted

The formula for the conversion factors is described in depth here.
IF you are using an absolute encoder attached to your SparkMAX this should be 360 for the angle motor conversion factor.

Absolute Encoder Type

Absolute Encoder ID

Absolute Encoder CAN Bus

Absolute Encoder Inverted

Back Left Module

deploy/swerve/modules/backleft.json

Location X

Inches (+x is towards robot front)

Location Y

Inches (+y is towards robot left)

Absolute Encoder Offset

ONLY SPARKMAX'S ARE SUPPORTED FOR BRUSHED MOTOR CONTROL!!
If you are using brushed motors you must set the CAN Bus option to one of the following:
greyhill_63r256
throughbore
throughbore_dataport
greyhill_63r256_dataport
srx_mag_encoder_dataport

Drive Motor Type

Drive Motor ID

Drive Motor CAN Bus

Drive Motor Inverted

Angle Motor Type

Angle Motor ID

Angle Motor CAN Bus

Angle Motor Inverted

The formula for the conversion factors is described in depth here.
IF you are using an absolute encoder attached to your SparkMAX this should be 360 for the angle motor conversion factor.

Absolute Encoder Type

Absolute Encoder ID

Absolute Encoder CAN Bus

Absolute Encoder Inverted

Back Right Module

deploy/swerve/modules/backright.json

Location X

Inches (+x is towards robot front)

Location Y

Inches (+y is towards robot left)

Absolute Encoder Offset

ONLY SPARKMAX'S ARE SUPPORTED FOR BRUSHED MOTOR CONTROL!!
If you are using brushed motors you must set the CAN Bus option to one of the following:
greyhill_63r256
throughbore
throughbore_dataport
greyhill_63r256_dataport
srx_mag_encoder_dataport

Drive Motor Type

Drive Motor ID

Drive Motor CAN Bus

Drive Motor Inverted

Angle Motor Type

Angle Motor ID

Angle Motor CAN Bus

Angle Motor Inverted

The formula for the conversion factors is described in depth here.
IF you are using an absolute encoder attached to your SparkMAX this should be 360 for the angle motor conversion factor.

Absolute Encoder Type

Absolute Encoder ID

Absolute Encoder CAN Bus

Absolute Encoder Inverted

Heading Tuning

deploy/swerve/controllerproperties.json

Module Tuning

deploy/swerve/modules/pidfproperties.json