Swerve Drive Config Generator

Gyroscope Configuration

Gyro Type

CAN ID

CAN Bus Name

Gyro Axis

Invert Gyroscope

Swerve Drive Configuration

Reference: Dropdown Options

Motor Types

talonfx_krakenx44	talonfx_krakenx60	talonfxs_neo
talonfxs_neo2	talonfxs_neo550	talonfxs_vortex
talonfxs_pulsar	sparkmax_neo	sparkmax_neo2
sparkmax_neo550	sparkmax_vortex	sparkmax_pulsar
sparkmax_minion	talonfxs_minion	sparkflex_neo
sparkflex_neo2	sparkflex_neo550	sparkflex_vortex
sparkflex_minion	sparkflex_pulsar	nova_neo
nova_neo2	nova_neo550	nova_vortex
nova_minion	nova_pulsar

Absolute Encoder Types

revthroughbore_attached	revthroughbore_dio	splineencoder_can
cancoder_can	canandmag_attached	canandmag_dio
canandmag_can	srxmag_attached	srxmag_analog
andymarkhexbore_attached	andymarkhexbore_dio	andymarkhexbore_analog
andymarkhexbore_can	analog5v_attached	analog_attached
dutycycle_attached

Gyroscope

swervedrive.json

Gyro type:navx3_canpigeon2_cancanandgyro_cansystemcore_internal

CAN ID:0

CAN bus:(default)

Gyro axis:yawpitchroll

Invert gyroscope:NoYes

Front Left Module

modules/frontleft.json

Drive motor type:sparkmax_neo

Angle motor type:sparkmax_neo

Drive CAN ID:1 Angle CAN ID:2

Drive CAN bus:(default)

Angle CAN bus:(default)

Absolute encoder type:cancoder_can

Encoder CAN ID:3 Offset (deg):0

Encoder CAN bus:(default)

Invert encoder:NoYes

Invert drive:NoYes

Invert angle:NoYes

Gearing override:not set - uses physicalproperties.json

Location front (in):10 Location left (in):10

Front Right Module

modules/frontright.json

Drive motor type:sparkmax_neo

Angle motor type:sparkmax_neo

Drive CAN ID:4 Angle CAN ID:5

Drive CAN bus:(default)

Angle CAN bus:(default)

Absolute encoder type:cancoder_can

Encoder CAN ID:6 Offset (deg):0

Encoder CAN bus:(default)

Invert encoder:NoYes

Invert drive:NoYes

Invert angle:NoYes

Gearing override:not set - uses physicalproperties.json

Location front (in):10 Location left (in):-10

Back Left Module

modules/backleft.json

Drive motor type:sparkmax_neo

Angle motor type:sparkmax_neo

Drive CAN ID:7 Angle CAN ID:8

Drive CAN bus:(default)

Angle CAN bus:(default)

Absolute encoder type:cancoder_can

Encoder CAN ID:9 Offset (deg):0

Encoder CAN bus:(default)

Invert encoder:NoYes

Invert drive:NoYes

Invert angle:NoYes

Gearing override:not set - uses physicalproperties.json

Location front (in):-10 Location left (in):10

Back Right Module

modules/backright.json

Drive motor type:sparkmax_neo

Angle motor type:sparkmax_neo

Drive CAN ID:10 Angle CAN ID:11

Drive CAN bus:(default)

Angle CAN bus:(default)

Absolute encoder type:cancoder_can

Encoder CAN ID:12 Offset (deg):0

Encoder CAN bus:(default)

Invert encoder:NoYes

Invert drive:NoYes

Invert angle:NoYes

Gearing override:not set - uses physicalproperties.json

Location front (in):-10 Location left (in):-10

Physical Properties

modules/physicalproperties.json

Drive gear ratio (X:1):6.75 Drive wheel diameter (in):4 Angle gear ratio (X:1):12.8

Drive stator current limit (A):40 (default) Angle stator current limit (A):20 (default)

PID Properties

modules/pidfproperties.json (also written to pidfproperties_sim.json)

Drive P:0.1 Drive I:0 Drive D:0

Drive S:— Drive V:— Drive A:—

Angle P:0.01 Angle I:0 Angle D:0

Angle S:— Angle V:— Angle A:—