YAGSL-Example

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The move towards rio based control loops is driven by the desire to support sysid this will alow more granular control over modules and provide options for higher performance

thenetworkgrinch

TalonFX should not be recreating the configurator every time.

thenetworkgrinch

The `discretize` function should have a variable user configurable dt.

thenetworkgrinch

Make optional motor controller override

2

Sometimes teams may wish to tune their motor controllers outside of YAGSL. YAGSL currently resets all motor controllers to factory default and applies its own configs to every motor controller....

thenetworkgrinch

Add PIDF kS, kV, kA configs for every module.

1

TL;DR add a helperfunction or something to help module specific configs.

thenetworkgrinch

[yaw/pitch/roll imu] imu orientation bug causes field centric bugs

3

Different orientation of the imu causes field centric drive to not work properly. If you end up needing to review, our discussion was here: https://discord.com/channels/176186766946992128/1194445461852008498/1200599365434216508. To replicate: Mount imu (Pigeon2...

Experance

Integration of AdvantageKit

8

I was wondering if there had been any thoughts of integrating advantagekit into YAGSL, I'd even be willing to contribute to it and use my team's bot to test it...

falOn-Dev

Add coupling ratio

5

TBD on how to calculate it but apply using CTRE template base.

thenetworkgrinch

Sparkmax Failover will never happen

11

The getRelativeEncoderPosition method will always return the absolute encoder position as they are not separate in SparkmaxSwerve.java. Additionally absoluteEncoder will never equal null to swap over to the relative encoder....

TrialNTerror

Create a "Zero Swerve" method

1

A method to reset absolute encoder offsets and re-zero the swerve drive without having to redeploy the code (without having to update the JSON).

gitpaperclip