2025 notes - FRCteam1719theUmbrellaCorporation/documentation GitHub Wiki

These four changes originally took place on "Ringo Laptop":

Go to https://docs.yagsl.com/bringing-up-swerve/check-your-motors to find out what to do in the future

On January 15th 2025, Ian Borden inverted the front right turn motor in the frontright.json for Ringo the robot
On January 15th 2025, Ian Borden inverted the back right turn motor in the backright.json for Ringo the robot
On January 15th 2025, Ian Borden inverted the back left turn motor in the backleft.json for Ringo the robot
On January 15th 2025, Ian Borden inverted the front left turn motor in the frontleft.json for Ringo the robot

These changes were made using Shuffleboard by looking at the Raw Absolute Enconder and Raw Angle Encoder

For more info go to https://docs.yagsl.com/configuring-yagsl/when-to-invert

Backleft Raw Absolute Encoder = 166.640625 or ~166.72
Backright Raw Absolute Encoder = 252.0703125 or ~251.982
Frontleft Raw Absolute Encoder = 191.162109375 or 191.25
These three first values jumped between the two but the frontright encoder only had one value
Frontright Raw Absolute Encoder = 318.8671875

These first of each of the four values were then inputed into the wheel jsons as the absoluteEncoderOffset

To create new jsons go to https://docs.yagsl.com/bringing-up-swerve/creating-your-first-configuration

In order to commit and then push, you most name the commit

Perry Sahnow on Jan 16 2025 changed a line in tuner constants for CTRE Swerve: public static final CANBus kCANBus = new CANBus...

Perry changed the type canbus from null to "Drivetrain"

Neel Shrestha and Ian Borden changed the P in PID on 1/24/25 for Nemo inside swerve PID Properties to 0.005 from ~0.002

January 25th 2025 - Ian Borden

Front Left kraken on Nemo Chassis does not need to invert drive or angle encoder as both Raw Absolute Encoder and Raw Angle Encoder in Shuffleboard increase
Back Left kraken on Nemo Chassis does not need to invert drive or angle encoder as both Raw Absolute Encoder and Raw Angle Encoder in Shuffleboard increase
Front Right kraken on Nemo Chassis does not need to invert drive or angle encoder as both Raw Absolute Encoder and Raw Angle Encoder in Shuffleboard increase
Back Right kraken on Nemo Chassis does not need to invert drive or angle encoder as both Raw Absolute Encoder and Raw Angle Encoder in Shuffleboard increase

Not Accurate: -Back left Raw Absolute Encoder =54.66796875 -Back right Raw Absolute Encoder =291.62109375 or ~291.7 -Front left Raw Absolute Encoder =129.814453125 or ~129.72655 -Front right Raw Absolute Encoder =35.595703125

Accurate as of Saturday 25 afternoon: Front Left = 359.912 or 0 Back Left = 0 Front Right = 0.703 or 0.615 Back Right = 354.463

Front Left Drive needed to be inverted

Angle PID in PID properties on Nemo was changed to 0.005 from 0.0020645

Drive Gear Ratio in physical properties for nemo was changed to 8.14

1/28/25 Encoder offsets front right 35.08 back right 294.87 back left 54.49 front left 129.81

2/4/25 During Path Planning it is critical that the wheels are facing relative forward when starting the path or else the robot will not fully complete the path

2/7/25 When working on Nemo YAGSL intake subsystem go to constants to find the ID for the motors. As of this date HBG didn’t know what ID values to put in. Change later

Additionally super important add armangle PIDs

3/5/25 https://docs.yagsl.com/configuring-yagsl/the-eight-steps This website was used and at step 2, the robot worked and drove correctly but had the gyro only show 0 or 180 degrees