FRC Team 4909 - The Bionics - code for the Swerve Drive Specialties MK4 Coaxial Swerve Drive. This code is based off of the Swerve Drive Specialties swerve-template, but has many modifications.
Conventions:
Team 4909 has conventions for the robot. We consider the Front Left Module as Module 1, Front Right as Module 2, Back Right as Module
3, and Back Left as Module 4, if any of these differ please change the appropriate Motor-Encoder ID's as needed in Constants.java.
Issues:
Our code does still have some issues, the biggest being that there is some yaw drift from the Pigeon IMU. We hope that by using the m
Temperature Calibration provided by CTRE in Pheonix Tuner it might be fixed.