This Repo is Archived

The example code has been moved to the Phoenix 6 Examples repo. https://github.com/CrossTheRoadElec/Phoenix6-Examples/tree/main/java/SwerveWithPathPlanner

Also check out Tuner X's Swerve drive generator along with Phoenix 6's new Swerve API https://pro.docs.ctr-electronics.com/en/latest/docs/api-reference/api-usage/swerve/swerve-overview.html

Swerve Drive Robot

This contains the code for the Swerve Drive robot, using SDS MK4 modules along with 4 CANdles for underglow on each side.

Steps to take for configuration

1. Hand-Spin every motor (steer and drive) to check for friction/tight spots
2. ID every motor as follows:
   • Steer motors even, Drive motors odd
   • Front Right with IDs 0,1
   • Front Left with IDs 2,3
   • Back Right with IDs 4,5
   • Back Left with IDs 6,7
3. ID every CANcoder as follows:
   • Front Right 0
   • Front Left 1
   • Back Right 2
   • Back Left 3
4. Put robot up on blocks so modules can freely drive and turn
5. Using Tuner, drive every motor to make sure there are no tight spots
   • Start with driving a steer motor, and spin it forward and backward
   • When driving the drive motor, make note of which direction is forward and when finished, face it so forward points to the front of the robot.
6. Use straight edge/pins/other mechanical means to align every wheel
7. Go through each CANcoder and find the magnet offset
   1. Factory default CANcoder
   2. Self-test CANcoder
   3. Update offset in code to be the negative of reported position