Troubleshooting flowchart

Swerve drive diagram

Older gyroscopes like the Pigeon 1 and NavX 1 drift the longer they're powered on. Consider rebooting or zeroing your gyroscope at the start of your program.

Swerve modules spinning "out of control"

Swerve module does not spin correctly

1. Are the CAN IDs, motor types, and absolute encoder types correct? See the device reference for supported type strings.

2. Are the module locations correct?

3. Do you use an absolute magnetic encoder?

   1. Did you loctite the magnet in?

   2. Do you have a good (usually green LED) reading on the magnet?

4. Did you set absoluteEncoderOffset while the wheels had the bevel facing left and the wheel pointed straight front-to-back?

5. Did you check how to determine inversion for inversion states?

6. Did you tune your PID?

If none of the above resolves it, move on to The 8 steps.

Swerve drive "spins out of control"

See how to determine inversion and the 8 steps.