2026:Programming

Tuesday 1/13/2026

We continued our development of swerve drive and the tuning of the module PID values. Me and Ben ultimately got nowhere with the tuning of the steering wheels and decided to entertain SysId for swerve drive to systemically determine the constants.

= Wednesday 1/14/2026 = 

We reworked swerve, clicking was probably mechanical/fine. = Saturday 1/17/2026 =  We figured out sysid, rolling back to 25.3.2 made it work :/. Also started work with auto/moveToState, and did math for locking drive to an arc.

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