Creating your first configuration

DevilBotz 2876 Swerve Bring-Up Checklist

Compliments of the DevilBotz 2876!

Updated: 2024-01-24

Printable version

142KB

2024-01-24 DevilBotz 2876 Swerve Bring-Up Checklist.pdf

PDF

Open

Resources

• YAGSL Wiki - https://yagsl.gitbook.io/yagsl/

• REV Robotics Hardware Client - https://docs.revrobotics.com/rev-hardware-client/

  • for configuring Spark Max Motor Controllers and other Rev devices

• Phoenix Tuner X - https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/index.html

  • for configuring CanCoders and other CTR devices

Swerve Orientation Diagram

Note: When viewed from the top, make sure the sides of the wheel with the bevel gear are pointing to the left

Step 1: Module Types

	Model, Version, Etc
Motor
Controller
Absolute Encoder
IMU

Step 2: Build Specific Details

1. Measure the module center relative to the robot center

Module	X "Front" (Inches)	Y "Left" (Inches)
Front Left (FL)	+	+
Front Right (FR)	+	-
Back Left (BL)	-	+
Back Right (BR)	-	-

1. Measure the wheel diameter in meters

2. Determine the reported internal encoder resolution

   • Note: Most encoders now normalize the reported values to -1 to 1, so the Encoder Resolution when computing the conversion factors should generally be “1”. Only known exception is the TalonSRX.

3. Find the drive/angle gear ratio from the swerve module manufacturer specs

4. Calculate the drive/angle conversion factors

   • Drive Motor Conversion Factor (meters/rotation) = (PI * WHEEL DIAMETER IN METERS) / (GEAR RATIO * ENCODER RESOLUTION)

   • Angle Motor Conversion Factor (degrees/rotation) = 360 / (GEAR RATIO * ENCODER RESOLUTION)

Note: For Absolute Encoders attached directly to the dataport on the SparkMAX, the Conversion Factor is 360

Motor	Wheel Diameter (meters)	Gear Ratio	Encoder Resolution (CPR)	Conversion Factor
Drive			1
Angle	N/A		1

Step 3: Electrical Characteristics

• Set/Verify the CAN IDs for each module

• Check Inversion

  1. Rotate the drive wheel CCW (moving “forward”)

     • The built-in encoder value should increase. If not, invert the drive motor.

  2. Rotate the angle wheel CCW (when viewed from the top)

     • The built-in encoder value should increase. If not, invert the angle motor.

     • The absolute encoder value should increase. If not, invert the absolute encoder.

  3. Rotate the entire robot CCW. The gyro angle (yaw) should increase. If not, invert the IMU

Note: If you are using the hardware utilities for accessing the motors controllers and/or absolute encoders, the RoboRio must not be active on the CAN bus. The most reliable way to disable the RoboRio is to temporarily disconnect it from power.

Module	Motor CAN IDs	Motor CAN IDs	Encoder CAN/Channel ID
	Drive	Angle	Absolute Encoder
Front Left (FL)
Front Right (FR)
Back Left (BL)
Back Right (BR)

Module	Inverted?
	Drive	Angle	Absolute Encoder	IMU
Front Left (FL)
Front Right (FR)
Back Left (BL)
Back Right (BR)

Step 4: Absolute Encoder Offsets

1. Turn Robot On (Disabled so the wheels can be turned manually)

2. Manually Turn All 4 wheels so that they are all pointing forward and forward rotation results in increasing drive encoder values (see the black arrows in Orientation Diagram).

3. Measure the absolute encoder value for each module (the offset is the negative of the value reported)

Module	Angle Absolute Offset
	(rotations 0-1)	(degrees 0-360)
Front Left (FL)
Front Right (FR)
Back Left (BL)
Back Right (BR)

Step 5: Input data into the configuration webpage

Open the webpage and import your data into the config files. https://broncbotz3481.github.io/YAGSL-Example/

https://github.com/Flint221/YAGSL-gitbook-fork-flint221/blob/main/bringing-up-swerve/broken-reference/README.md