# Swerve Drive Drift Swerve drive drift has been a persistent problem for many years and there have been many discussions as to why it happens. This page will guide you through 3 categories of common causes of swerve drive drift. It is important to keep in mind that SEVERAL of these issues could be present in your robot. ## Hardware ### Wiring Incorrect wiring can be further broken down into 3 categories for the swerve drive. These are the symptoms if the wiring is worn down, incorrectly routed, or broken some where (especially in connectors!) #### Encoder * [ ] Telemetry readings will be erratic and nonsensicle. * [ ] Motor could spin out of control. * [ ] Errors in the driver station console may appear. #### Motor Controller * [ ] Telemetry may be slow to update. * [ ] Motors may suddenly stop or spin out of control. * [ ] Motors may not respond to commands. * [ ] Errors in the driver station console may appear. #### Gyroscope/IMU * [ ] Telemetry may be slow to update. * [ ] Field Relative robot control may be unusable. * [ ] Autonomous drifts uncontrollably. * [ ] Errors in the driver station may appear. * [ ] If your gyro is moving/shaking violently. * [ ] If your gyro shifted during movement. ### Physical Components #### Magnetic Encoder * [ ] Magnet not secured to the swerve module and slips while in motion. * Absolute encoder offsets would constantly need to be readjusted until magnet is secured. * [ ] Magnetic encoder is not secured to the swerve module. #### Motor * [ ] Motor may not have firm connection to swerve module shaft. * Motor would "twitch" while running if a amperage limit is set. * [ ] Motor is dying. * Motor may be pulling more amperage to get the same speeds. #### Swerve Module * [ ] If your wheels were misaligned * [ ] Modules are inconsistent with the same PID. * Grease may need to be applied to the gears. #### Robot * [ ] Robot center of gravity is not ideal. ## Software * [ ] Constant `Command Scheduler loop overruns` because of other parts of your code. * [ ] Maximum physical velocity is not set correctly. * [ ] If using open loop, modules run at different speeds. * [ ] Controller input filtering. * [ ] Use of [`SwerveDrive.setCosineCompensator`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#setCosineCompensator\(boolean\)) * [ ] Use of [`SwerveDrive.setHeadingCorrection`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#setHeadingCorrection\(boolean\)) * [ ] Use of [`SwerveModule.setAntiJitter`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveModule.html#setAntiJitter\(boolean\)) * [ ] Use of [`SwerveDrive.chassisVelocityCorrection`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#chassisVelocityCorrection) * [ ] Use of [`SwerveDrive.setMaximumSpeeds`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#setMaximumAllowableSpeeds\(double,double\)) * [ ] Use of [`SwerveDrive.replaceSwerveModuleFeedforward`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#replaceSwerveModuleFeedforward\(edu.wpi.first.math.controller.SimpleMotorFeedforward\)) * [ ] Use of [`SwerveDrive.setGyroOffset`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#setGyroOffset\(edu.wpi.first.math.geometry.Rotation3d\)) * [ ] Use of [`SwerveDrive.updateCacheValidityPeriods`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#updateCacheValidityPeriods\(long,long,long\)) * [ ] Use of [`SwerveDrive.setOdometryPeriod`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#setOdometryPeriod\(double\)) * [ ] Use of [`SwerveDrive.addVisionMeasurement`](https://yet-another-software-suite.github.io/YAGSL/javadocs/swervelib/SwerveDrive.html#addVisionMeasurement\(edu.wpi.first.math.geometry.Pose2d,double\)) * [ ] Use of `SwerveDrive.setChassisDiscretization` ### PathPlanner * [ ] PathPlanner `AutoBuilder` PID's are not tuned well. * [ ] Maximum module velocity is too high or too low. * [ ] Testing path is curved. * [ ] PathPlanner auto doesn't define preset pose. * [ ] PathPlanner path doesnt reset odometry on start. ## Configuration * [ ] Module locations are not correctly defined. * Remember these are from the center of the robot to the center of the module! * [ ] Swerve Module configurations do not have the correct definitions for the Absolute Encoder, Angle Motor, or Drive motor. * [ ] The conversion factor is defined inside of swerve module configuration files is different from the one in `physicalproperties.json` * The conversion factors in the swerve module files are completely **OPTIONAL** and do not need to be defined unless you have a reason. You should only define them in the code or use `physicalproperties.json` to avoid redundancy. * [ ] The conversion factor is not correct. * If you see your swerve drive constantly going further than it should with pathplanner this is probably the case. * If your angle motors never align the module correctly this may also be a cause of it. * [ ] Drive and steering/azimuth/angle motor PIDs are not tuned well enough. * [ ] The amperage limit is too low. * [ ] [Translational axis changes with robot orientation.](/configuring-yagsl/the-eight-steps.md) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.yagsl.com/configuring-yagsl/swerve-drive-drift.md?ask= ``` The question should be specific, self-contained, and written in natural language. 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