Swerve Offsets
Run the opmode and open Panels
Run the opmode and open Panels on your computer and connect to your robot.
Check the Offset Values on your driver station
Each module should read 0 degrees when the wheels are facing forward.
Adjust the Offsets
Adjust the Offsets until each module reads 0 degrees when the wheels are facing forward. You can adjust these values on Panels. The unit is degrees.
Save the Offsets in the Constants file
Now before you disconnect your robot from Panels, make sure to save the offsets somewhere. We suggest saving them directly in the Constants file. This is the line you will need to change for each module:
.setModuleAngleOffset(0) //degreesCongratulations! Your robot is now ready to run the TeleOpTest.
From this point onwards, the tuning process is the same as any other drivetrain.
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