pidfproperties.json

Default closed-loop PID + feedforward gains shared by every module. Parsed into swervelib.parser.json.PIDFPropertiesJson (each of drive/angle is a swervelib.parser.PIDFConfig).

{
  "drive": {
    "p": 0.5,
    "i": 0.0,
    "d": 0.01
  },
  "angle": {
    "p": 2.0,
    "i": 0.0,
    "d": 0.1
  }
}

Field	Type	Required	Description
p	number	yes	Proportional gain.
i	number	yes	Integral gain.
d	number	yes	Derivative gain.
s	number	no	kS — static friction feedforward (SimpleMotorFeedforward).
v	number	no	kV — velocity feedforward. If left as 0 for the drive motor, the parser auto-derives it from the motor's free speed.
a	number	no	kA — acceleration feedforward.

Both drive and angle are required top-level keys.

pidfproperties_sim.json

Optional. If present, SwerveParser uses it instead of pidfproperties.json whenever RobotBase.isSimulation() is true — same shape as above. Use it to tune simulation gains separately from your real robot's gains, without needing to swap files by hand.

There is no more f (feedforward) or iz (integral zone) field, and no more output min/max clamp object — gains are now expressed as plain PID plus a SimpleMotorFeedforward-style s/v/a. See Schema Changes.

See How to Tune PIDF Gains for a tuning procedure and starting-point values.