Module JSON

One file per swerve module (e.g. frontleft.json), referenced by name from swervedrive.json's modules array. Parsed into swervelib.parser.json.ModuleJson.

{
  "drive": {
    "type": "sparkmax_neo",
    "id": 1,
    "canbus": ""
  },
  "angle": {
    "type": "sparkmax_neo",
    "id": 2,
    "canbus": ""
  },
  "absoluteEncoder": {
    "type": "revthroughbore_attached",
    "id": 0,
    "channel": 0,
    "canbus": ""
  },
  "inverted": {
    "drive": false,
    "angle": false
  },
  "absoluteEncoderOffset": -45.0,
  "absoluteEncoderInverted": false,
  "location": {
    "front": 12.0,
    "left": 12.0
  }
}

Field	Type	Required	Description
drive	Device	yes	Drive motor controller. See Device type strings.
angle	Device	yes	Angle/steering/azimuth motor controller.
absoluteEncoder	Device	yes	Module's absolute encoder. See Device type strings.
gearing	object	no	Per-module override of drive/angle gearing. If omitted, the module uses the defaults from physicalproperties.json. Same shape as physicalproperties.json's gearing.
inverted.drive	boolean	yes	Invert the drive motor.
inverted.angle	boolean	yes	Invert the angle motor.
absoluteEncoderOffset	number (degrees)	yes	Offset so the wheel reads "forward" when physically pointed forward with the bevel gear to the left. Determined by rotating the wheel to face forward and reading the raw absolute encoder value.
absoluteEncoderInverted	boolean	no (default false)	Invert the absolute encoder's reading.
location.front	number (inches)	yes	Distance from the robot's center to the module's center, along the front/back axis.
location.left	number (inches)	yes	Distance from the robot's center to the module's center, along the left/right axis.

drive / angle object

Field	Type	Description
type	string	Controller+motor type string — see Device type strings.
id	number	CAN ID of the motor controller.
canbus	string	CAN bus the controller is on. "" for the default bus.

absoluteEncoder object

Field	Type	Description
type	string	Encoder type string — see Device type strings.
id	number	CAN ID, if the encoder is on CAN. Ignored otherwise.
channel	number	AnalogIn channel, if the encoder is analog/duty-cycle. Ignored otherwise.
canbus	string	CAN bus, if applicable. "" for the default bus.

There is no per-module useCosineCompensator toggle anymore — cosine compensation is always applied by the parser. See Module Behaviors for what it does.