Swerve Module

Swerve Module Configuration (module/x.json)

The swerve module configuration configures unique properties of each swerve module. It maps 1:1 with ModuleJson.java which is used to create SwerveModuleConfiguration. This configuration file interacts directly with swerve kinematics.

Fields

Name	Units	Required	Description
drive	Device	Y	Drive motor device configuration.
angle	Device	Y	Angle motor device configuration.
encoder	Device	Y	Absolute encoder device configuration.
inverted	MotorConfig	Y	Inversion state of each motor as a boolean.
absoluteEncoderOffset	Degrees	Y	Absolute encoder offset from 0 in degrees. May need to be a negative number.
absoluteEncoderInverted	Bool	N	Inversion state of the Absolute Encoder.
location	Location	Y	The location of the swerve module from the center of the robot in inches. +x is torwards the robot front, and +y is torwards robot left.
conversionFactor	MotorConfig	N	OVERRIDE Conversion factor applied to the motor controller for the onboard PID, used to override this setting in swervedrive.json

MotorConfig

Name	Units	Required	Description
drive	Value	Y	Drive motor value.
angle	Value	Y	Angle motor value.

Location

Name	Units	Required	Description
front	Value	Y	Inches from robot center to module in forward direction.
left	Value	Y	Inches from robot center to module in left direction.