Creating your first configuration

DevilBotz 2876 Swerve Bring-Up Checklist

Compliments of the DevilBotz 2876!

Updated: 2024-02-03

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Resources

Swerve Orientation Diagram

Step 1: Module Types

Model, Version, Etc

Motor

Controller

Absolute Encoder

IMU

Step 2: Build Specific Details

  1. Measure the module center relative to the robot center

Module
X "Front" (Inches)
Y "Left" (Inches)

Front Left (FL)

+

+

Front Right (FR)

+

-

Back Left (BL)

-

+

Back Right (BR)

-

-

  1. Measure the wheel diameter in inches

    • Note: Most encoders now normalize the reported values to -1 to 1, so the Encoder Resolution when computing the conversion factors should generally be “1”. Only known exception is the TalonSRX.

  2. Find the drive/angle gear ratio from the swerve module manufacturer specs

  3. (Optional) Calculate the

    • Drive Motor Conversion Factor (meters/rotation) = (PI * WHEEL DIAMETER IN METERS) / (GEAR RATIO * ENCODER RESOLUTION)

    • Angle Motor Conversion Factor (degrees/rotation) = 360 / (GEAR RATIO * ENCODER RESOLUTION)

Motor
Wheel Diameter (meters)
Gear Ratio
Encoder Resolution (CPR)
Conversion Factor

Drive

1

Angle

N/A

1

Step 3: Electrical Characteristics

  1. Set/Verify the CAN IDs for each module

Module
Motor CAN IDs
Motor CAN IDs
Encoder CAN/Channel ID

Drive

Angle

Absolute Encoder

Front Left (FL)

Front Right (FR)

Back Left (BL)

Back Right (BR)

  1. Check Inversion

    1. Rotate the drive wheel CCW (moving “forward”)

      • The built-in encoder value should increase. If not, invert the drive motor.

    2. Rotate the angle wheel CCW (when viewed from the top)

      • The built-in encoder value should increase. If not, invert the angle motor.

      • The absolute encoder value should increase. If not, invert the absolute encoder.

    3. Rotate the entire robot CCW. The gyro angle (yaw) should increase. If not, invert the IMU

Module
Inverted?

Drive

Angle

Absolute Encoder

IMU

Front Left (FL)

Front Right (FR)

Back Left (BL)

Back Right (BR)

Step 4: Absolute Encoder Offsets

  1. Turn Robot On (Disabled so the wheels can be turned manually)

  2. Manually Turn All 4 wheels so that they are all pointing forward and forward rotation results in increasing drive encoder values (see the black arrows in Orientation Diagram).

  3. Measure the absolute encoder value for each module

Module
Angle Absolute Offset (degrees)

Front Left (FL)

Front Right (FR)

Back Left (BL)

Back Right (BR)

Step 5: Input data into the configuration webpage

Open the webpage and import your data into the config files. https://broncbotz3481.github.io/YAGSL-Example/

https://github.com/thenetworkgrinch/YAGSL-gitbook/blob/main/bringing-up-swerve/broken-reference/README.md

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