Today in Code Team - January 15, 2025
Your semi-regularly updated blog from the code team.
Overview Today focused on two main areas: PID tuning for the test chassis and vision system improvements. Drake, Sean, and Ethan worked on debugging the swerve drive PID loops. We’re seeing issues where the wheels know their target direction but aren’t reaching it correctly - they either undershoot/overshoot or exhibit erratic behavior. While the code correctly calculates desired wheel orientations, there appears to be a disconnect between the commanded positions and actual wheel movement. We suspect this could be related to how the PID controllers are interpreting feedback from the turn encoders.
Code · Drive · Frc · Pid · Vision
1 minute