Important Debugging Steps #47
Replies: 22 comments 14 replies
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Please make sure the magnets in your magnetic encoders (if you are using them) are glue'd into the shaft and have a good reading (green light on CANCoders) |
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One of ours came unglued and it was quite a surprise... but easily identified - wheels that were perfectly aligned one day were not aligned the next. New measurement confirmed the issue and glue fixed the issue. |
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If you are using a NavX please recalibrate in the orientation you are using it in. ONCE and make sure the robot doesn't move! |
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As I understand it, NavXs are inverted, with CW+ instead of CCW+. As a result do we need to additionally invert the gyro? Or does selecting the NavX already accomplish this? |
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It should accomplish this but does not currently. Honestly I was unaware that the NavX's are CW+ not CCW+. After the season we should make that change.
As for now you should invert the gyro selecting the NavX does not already accomplish this. |
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Your gyroscope should be going Counter Clockwise Positive. |
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Your module locations are in inches and |
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If your wheels spin out while running try increasing your amperage as a temporary fix, but there may be something wrong with a swerve module. |
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If the drive train slows down while at a rotation and strafing increase your current limits. |
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Tuning PID's.. |
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https://file.tavsys.net/control/controls-engineering-in-frc.pdf Section 2.6 |
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Ensure the robot heading is correct by rotating the robot and looking at the gyro on Shuffleboard. The angle should increase while moving counter clockwise. |
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Advantage Scope (https://github.com/Mechanical-Advantage/AdvantageScope/releases) to see what the swerve drive is commanded to do vs what it actually does. Values are published to |
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If your robot is always drifting to one side check your weight distribution! |
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If your modules periodically re-adjust themselves to different angles check to make sure your absolute encoders are the correct ones corresponding to your angle motors. |
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x and y are measured from center of wheel to center of robot. Robot odometry will not be accurate if this is incorrect especially during auto. |
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If this happens, you should
IMG_7837.mov |
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If your swerve drive is inverting when changing orientation (front and back change) try inverting your drive motors. Like this. IMG_0942.MOVYou may or may not have to invert your gyroscope following this. |
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If you need to invert your gyro but doing so messes up your driving try setting P to negative in controllerproperties.json. |
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If you need to invert your motors but doing so messes up your driving try setting P to negative in pidfproperties.json. |
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GREASE YOUR GEARS!!! At least every day or once every 4 matches. https://www.chiefdelphi.com/t/frc-95-the-grasshoppers-2023-build-thread/419845/137 |
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Robot cannot turn 180 with path planner. Try inverting your drive motors. IMG_7951.movIMG_7952.mov |
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If pth planner is consistently traveling a offset, check wheel diameters |
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Hello, member of 2811 here. We got Yagsl running with navx, neos and srx mag encoders on a swerve X chassis. For some reason, the right stick does nothing and doesn't make the robot turn. I have tried to switch the axis it uses in robotcontainer but that didn't improve anything. Though when pressing B on the logitech f310 (button 1 if memory serves) it rotates sometimes. Any help is very appreciated. IMG_2582.MOV |
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Btw the error is generated here, honestly not sure why you would see any of the other messages. As for your code i would need to see it. But since the sim works i am not inclined to believe its your fault |
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Have you tripple checked your axis and button mappings or implemented it with a project not based off of YAGSL-Example's RobotContainer and commands? |
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I have triple-checked and tried switching the axis it uses and nothing helped. I have not tried using it with a project not based off the yagsl example robot container though |
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Check out what the widget in frc-web-components looks like and send it if you can! |
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which widget are you referencing? |
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Ensure your motor ID's are bellow 40. |
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Extreme network utilization could cause issues which disable motors temporarily. Use |
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When you are tuning your absolute encoder offsets FACE THE BEVELS THE SAME WAY.
If your odometry is always a bit off please check you wheel diameters, the grip tape might be worn and smaller than before.
DISABLE HEADING CORRECTION IF CONTROLLING ROBOT HEADING VIA VELOCITY INSTEAD OF DESIRED ANGLE
Make sure your absolute encoder is incrementing in the right direction! If your wheels never get to the right alignment they may need to be inverted!
If your wheels are constantly re-adjusting double check your angle gear ratio's.
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