YAGSL Configuration File -- Competition Robot

[GavinWu42711]

Need to create the configuration files for the competition robot. Requirements:

IMU

IMU/Gyro type
IMU CAN ID
CANBus used for IMU

Module Properties

Optimal Voltage
Robot Weight
Expected grip/coefficient of friction
Current limit for driving motors
Current limit for steering motors
Angle motor gear-ratios
Wheel diameter (inches)
Drive motor gear-ratios
Drive motor acceleration limit
Steer motor acceleration limit

Front Left Module

'x' distance from center of robot
'y' distance from center of robot
Absolute encoder offset
Drive motor type
Drive motor CAN ID
CANBus used for drive motor
Drive motor inverted (yes/no)
Steering motor type
Steering motor CAN ID
CANBus used for steering motor
Type of absolute encoder
Absolute encoder ID
CANBus used for absolute encoder
Absolute encoder inverted (yes/no)

Front Right Module

'x' distance from center of robot
'y' distance from center of robot
Absolute encoder offset
Drive motor type
Drive motor CAN ID
CANBus used for drive motor
Drive motor inverted (yes/no)
Steering motor type
Steering motor CAN ID
CANBus used for steering motor
Type of absolute encoder
Absolute encoder ID
CANBus used for absolute encoder
Absolute encoder inverted (yes/no)

Back Left Module

'x' distance from center of robot
'y' distance from center of robot
Absolute encoder offset
Drive motor type
Drive motor CAN ID
CANBus used for drive motor
Drive motor inverted (yes/no)
Steering motor type
Steering motor CAN ID
CANBus used for steering motor
Type of absolute encoder
Absolute encoder ID
CANBus used for absolute encoder
Absolute encoder inverted (yes/no)

Back Right Module

'x' distance from center of robot
'y' distance from center of robot
Absolute encoder offset
Drive motor type
Drive motor CAN ID
CANBus used for drive motor
Drive motor inverted (yes/no)
Steering motor type
Steering motor CAN ID
CANBus used for steering motor
Type of absolute encoder
Absolute encoder ID
CANBus used for absolute encoder
Absolute encoder inverted (yes/no)

Heading Tuning (optional)

Joystick deadband
Heading P
Heading I
Heading D

Module Tuning (optional)

Drive motor P
Drive motor I
Drive motor D
Drive motor F
Drive motor integral zone
Angle motor P
Angle motor I
Angle motor D
Angle motor F
Angle motor integral zone

[GavinWu42711]

The "front" of the robot is in the direction of the intake. The "left" of the robot is the direction in which the robot shoots.

"y" distance (dX / 2) :

"x" distance (dZ / 2) :

wheel diameter:

[GavinWu42711]

Still need to tune PID (separate ticket)

swervedrive.json

controllerproperties.json

pidfproperties.json

physicalproperties.json

frontright.json

frontleft.json

backright.json

backleft.json