Get Swerve Drive Working about valhallalib

[epshteinmatthew]

Refactored

[weijuwang]

Can you document the issues in more detail just so we know what exactly it is we need to fix?

[epshteinmatthew]

I didn't document this previously because the issue a)changes a lot and b)I was at home
But you bring up a fair point...

ISSUES WITH SWERVE:

• Swerve trying to turn constantly when on joystick input
• Gear ratio is not correct(as of what is deployed), resulting in the encoders getting off kilter
• field oriented doesnt work, idk why

[weijuwang]

Which file do you think the bugs are in?

[fernir3268]

New Update on this: PID may need returning. See post in relevant discord channel.

[epshteinmatthew]

Update on PID and gear ratio is successful! Next stop: rotation in place.

[SailingDreamer]

The problem could be that the positions of the swerve modules in the code are wrong. This would explain the fact that all swerve modules being set to a 45 degree angle but not in the right direction.

[epshteinmatthew]

that's correct. the problem was in the SwerveDriveKinematics object at the top of the SwerveDriveBase file, which had the modules in the incorrect order

[fernir3268]

Done.