Angle Of Swerve Wheels Won't Stabilize On Initial Enabling

[TotinoGracePizzaPis]

Hello.
We are using MK4i, Thrifty Bot Encoders, and the NavX Micro IMU. Whenever we enable the robot, the angle is constantly changing and does not stabilize. Additionally, when we move our joystick, the drive speed goes out of control. We are unsure what to do from here. Here is our code: https://gitlab.com/totino-grace-robotics-control-team/swerve2024_yagsl

[thenetworkgrinch]

Have you read this?

https://yagsl.gitbook.io/yagsl/configuring-yagsl/when-to-invert

[TotinoGracePizzaPis]

Yes. We positioned the robot so we were facing the back and pointed the bevels to our left, which would be pointing to the Front Left and Back Left. We turned the wheels manually counterclockwise according to a top down view.

[thenetworkgrinch]

How about the absolute encoder?

[TotinoGracePizzaPis]

The absolute encoder value increases when we turn CCW. However, we've noticed that when our encoder offset value changes each time we realign the wheels to 0.

[thenetworkgrinch]

Then your magnets may be moving inside the modules.

[tfield]

Agreed - we had this problem with our cancoders - one of them came unglued and it would rotate a few degrees from time to time. While translating in a straight line without rotating it was plain to see that the wheels weren't aligned straight anymore. When we took the cancoder apart the magnet slid out as if it hadn't been glued at all. Easy fix though.