1538_2025

CAN IDs

ID	Device
1	Swerve FL Drive
2	Swerve FL Rotation
3	Swerve FR Drive
4	Swerve FR Rotation
5	Swerve BL Drive
6	Swerve BL Rotation
7	Swerve BR Drive
8	Swerve BR Rotation
9	Swerve FL Encoder
10	Swerve FR Encoder
11	Swerve BL Encoder
12	Swerve BR Encoder
15	Pivot motor
16	Pivot encoder
17	Wrist motor
18	Telescope motor
20	Claw motor
30	Claw CANRange
40	PCM
0	Claw solenoid
24	Pigeon

Calibration

Swerve Drive

1. Physcially rotate the swerve modules to their zeroing position.
2. In Phoenix Tuner, click the zero button for each encoder and note the value that appears on screen.
3. Convert the Phoenix Tuner encoder offset value from turns to degrees and add any necessary offsets, such as removing the 45 deg offset.
4. Record these values in CowRobot.cpp for each module.

   1538_2025/src/main/cpp/CowRobot.cpp

   Lines 12 to 15 in 321df05

   	SwerveModule::Config { 1, 2, 9, -58.32_deg },
   	SwerveModule::Config { 3, 4, 10, -165.24_deg },
   	SwerveModule::Config { 5, 6, 11, 85.32_deg },
   	SwerveModule::Config { 7, 8, 12, 82.08_deg }

5. Load the new build onto the robot.
6. Validation
   1. Enable the robot in teleoperated mode. The modules should all point forward without joystick input.
   2. Check the translation joystick. Make sure the driver station alliance is set to blue.
      
      The starting pose for the robot is at the blue alliance wall facing toward the red alliance wall, so moving forward on the joystick should move the robot away from the driver.

Troubleshooting

• If you suspect that the drive motors or rotation motors are inverted, enable it manually in Phoenix Tuner and move each motor with a positive duty cycle control.
  • A positive control for the drive motor should spin it CW as seen from the right side of the robot.
  • A positive control for the rotation motor should spin it CCW as seen from the top of the robot.
  • If it's inverted then change the motor polarity in SwerveModule.cpp. The codebase hasn't been tested on Swerve X2i, so depending on if it has an odd or even number of gears, the motor polarity may have to be inverted.
  • Drive motor

    1538_2025/src/main/cpp/Subsystems/SwerveModule.cpp

    Line 25 in a352632

    driveMotorConfig.MotorOutput.Inverted = ctre::phoenix6::signals::InvertedValue::Clockwise_Positive;

    1538_2025/src/main/cpp/Subsystems/SwerveModule.cpp

    Line 130 in 321df05

    driveMotorSimState.Orientation = ctre::phoenix6::sim::ChassisReference::Clockwise_Positive;

  • Rotation Motor

    1538_2025/src/main/cpp/Subsystems/SwerveModule.cpp

    Line 32 in 321df05

    rotationMotorConfig.MotorOutput.Inverted = ctre::phoenix6::signals::InvertedValue::Clockwise_Positive;

    1538_2025/src/main/cpp/Subsystems/SwerveModule.cpp

    Line 134 in 321df05

    rotationMotorSimState.Orientation = ctre::phoenix6::sim::ChassisReference::Clockwise_Positive;