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I figured out that I had previously swapped the FL and BR module by changing their locations. This was bad on my part and I never undid it. Once I fixed my locations I then was still rotating backwards. So I followed the when to invert wiki and had to swap all the modules around. Not sure why i needed to do this but it works! A bit annoying that my offsets are now in json files that are incorrectly named and I need to set offsets based off IDs not based off json file names. So teleop is fixed! However autonomous is still rotating backwards. My auto is simple drive forwards and turn CCW. In pathplanner telemetry tab i watch as it shows the ghost robot turn CCW but my robot turn CW. My AdvantageScope Odometry tab also shows my robot turning CW. As you can see the auto is setup for the blue alliance and my driver station is set to the blue alliance however the turning is still backwards. I'll be looking into this. |
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I have teleop drive working well (when treating the back of my robot as the front) and auto drive is OK, but currently turns in the wrong direction when moving straight while rotating.
i have attempted to follow the steps on this page: https://docs.yagsl.com/configuring-yagsl/the-eight-steps#how-to-swap-module-configurations
i found the steps unclear (couldn't tell what code was 'highlighted', can't tell if both steps are needed in the 'easy way' section or just one). so its possible i followed them incorrectly. i attempted to just swap the module location signs. that caused the robot to fight against itself while turning. when that didn't work i assumed the 'highlighted' code was everything in the module json except the location and tried swapping that between FL and BR. same issue, robot tries to fight against itself while turning.
this is the only documentation i can find on how to swap front/back of a robot.
my gyro is CCW+, my modules are all in the correct position (verified by flashing lights), they are CCW+ when rotating the wheels (from above).
i'm sure im missing something obvious.
thank you so much for the help, really enjoying using YAGSL so far.
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