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Device Configuration
T Grinch edited this page Feb 14, 2023
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All devices in a swerve drive come down to a basic set of fields. The device configuration is used to store and create those devices during parsing with a 1:1 mapping to DeviceJson.java.
| Name | Units | Required | Description |
|---|---|---|---|
| type |
integrated, attached, cancoder for Encoders. navx, pigeon, pigeon2 for IMU's. sparkmax, talonfx, falcon, talonsrx for motors. |
Y | The device type which is used for creation of the Swerve type. |
| id | Integer | Y | The ID of the device on the CANBus, or the pin ID on the roboRIO for certain devices. |
| canbus | String | N | The canbus to instantiate the device on. Only works on devices compatible with alternate CAN buses. |