Swerve problem
greetings, everyone!
Even without using the analog stick that controls the robot’s rotation—and even when simply moving sideways or forward—the robot gradually begins to turn left or right. When I move forward or to the right, the robot gradually turns left; when I move backward or to the left, the robot gradually turns right. We've checked the mechanics of the Swerve Modules (Swerve Drive Specialties MK4i), but the problem persists... we went through the whole season with this problem and just now we got time to solve it, but we weren't able to.
In addition, after walking with the robot for some time and rotating around its own axis, Pigeon begins to accumulate error. After that, even when the robot is positioned straight, Pigeon does not indicate that it is straight. The same happens in the swerve visualization on the Elastic Dashboard and in the robot visualization in the Elastic Dashboard arena.
some important informations: we use the YAGSL library, xbox one X controller, 4 Kraken X60 for traction and 4 Neo V1.1 for direction.
Reddit doesn't allow me to upload videos, so if you guys could access this YouTube link to check and help us out, it would be fantastic for us!