controller-properties-configuration.md

Controller Properties Configuration

Swerve Controller (controllerproperties.json)

The Swerve Controller stores configuration options relating it how the swerve drive works during autonomous and drive modes which set the heading of the robot based off a joystick. The JSON files maps 1:1 with ControllerPropertiesJson which creates a SwerveControllerConfiguration. The values within here are EXTREMELY important to autonomous because the robot heading PID needs to be tuned correctly in order for Autonomous functions to work.

Fields

Name	Units	Required	Description
angleJoystickRadiusDeadband	Double	Y	The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
heading	PID	Y	The PID used to control the robot heading.

Example Configuration

{
  "angleJoystickRadiusDeadband": 0.5,
  "heading": {
    "p": 0.4,
    "i": 0,
    "d": 0.01
  }
}