YAGSL
  • Welcome to Yet Another Swerve Document
    • Resources
  • Overview
    • What we do
    • Our Features
      • Telemetry
      • Simulation
      • Lock Pose
      • Max Speed
      • Chassis Speed Discretization
      • Vision Odometry
      • Heading Correction
      • Auto-centering Modules
      • Offset Offloading
      • Cosine Compensation
      • Module Auto-synchronization
      • Angular Velocity Compensation
    • Changelog
    • Java API
    • Example Code
    • Config Generator
    • 💸Donations
    • 👕Merch
    • Discord
  • Fundamentals
    • Swerve Drive
    • Swerve Modules
  • Bringing up swerve
    • Preface
    • Swerve Information
    • Check your gyroscope
    • Check your motors
    • Creating your first configuration
  • Configuring YAGSL
    • Getting to know your robot
      • Gear Ratio
    • Dependency Installation
    • Configuration
      • Swerve Drive Configuration
      • Physical Properties Configuration
      • PIDF Properties Configuration
        • PIDF
      • Swerve Module Configuration
      • Controller Properties Configuration
      • Device Configuration
    • Code Setup
    • Standard Conversion Factors
    • How to tune PIDF
    • When to invert?
    • Flowcharts
    • The eight steps
    • Swerve Drive Drift
    • SparkMAX Common Problems
    • Verifying your Module Locations
    • Tuning out Drift
  • Devices
    • Gyroscope
      • NavX
      • Pigeon
      • Pigeon 2.0
      • ADXRS450
      • ADIS16448
      • ADIS16470
    • Motor Controllers
      • SparkMAX
      • SparkFlex
      • TalonFX
    • Absolute Encoders
  • Analytics and Debugging
    • FRC Web Components
    • Advantage Scope
  • Product Guides
    • Java API
    • PathPlanner
    • ❌Tuning PID with REV Hardware Client
    • ❌Drive Code
  • Legacy Documentation
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On this page
  • Swerve Drive Diagram
  • Things to note
  • Swerve Modules
  • Swerve modules spinning "out of control"
  • Swerve Module does not spin correctly.
  • Swerve Drive "spins out of control"

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  1. Configuring YAGSL

Flowcharts

PreviousWhen to invert?NextThe eight steps

Last updated 1 year ago

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Swerve Drive Diagram

Things to note

Older gyroscope's like the Pigeon 1 and NavX 1 experience drift the longer they are on. Consider rebooting or zeroing your gyroscope at the start of your program.

Swerve Modules

Swerve modules spinning "out of control"

Swerve Module does not spin correctly.

I will add a flow chart for this later but essentially its.

  1. Are the CAN ID's, motor types, and absolute encoder types correct?

  2. Are the module locations correct?

  3. Do you use an absolute magnetic encoder

    1. Did you loctite your magnet in

    2. Do you have a good (green LED normally) reading on the magnet.

  4. Did you set the absolute encoder offset while the wheels had the bevel facing the left and wheels straight front to back.

  5. Did you check When to invert? for inversion states?

  6. Did you tune your PID?

Swerve Drive "spins out of control"