Swerve Drivebase

1. Open Phoenix Tuner X and click on the icon with the red arrow in the sidebar

   1. Make sure you are doing a SWERVE project

   2. Connect the computer to the robot with canivore, motors, encoders, and pigeon (all the circles should be green)

   3. Take all the measurements and input them into their respective boxes

2. Hit New Project

1. Input all the necessary data for the swerve project

   1. EACH MODULE:

      • Turn motor

      • Drive motor

      • Encoder

   2. For each module, you must select Validate Configuration at the bottom of the screen, and run both tests

   3. Select the Gyro for the whole robot (pigeon 2.0)

Once all the modules have been configured, you will need to calibrate encoders:

1. Click the highlighted button and disable the robot

2. Position all the wheels so that the bevel gear is pointed inwards

3. Use a long bar to align the wheels

4. Continue with the on screen directions

The final step before generating the swerve project is to verify steer and drive

Make sure to read all the directions carefully!

1. Click the green start button

2. An on-screen prompt will appear asking if all the modules rotated counterclockwise

3. If a module rotated clockwise, click Not Inverted and then rerun the test

4. Repeat until all modules rotate counterclockwise

5. Click Yes

The drive test is much simpler

1. Click the green start button

2. Verify that the modules aligned

3. Pay attention to the modules during the test

4. An on-screen prompt will ask you if the robot moved forwards

5. If it did, hit yes

Once this is complete, you can hit generate swerve project. The video tutorial goes through the code, I would reccomend looking at that.

The only major change to these files are in the very last method of CommandSwerveDrivetrain.java, which runs addVisionMeasurement() as shown below. TunerConstants.java can be let alone

The image below is what the code will look like after project generation