| description |
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Auto-centering modules could cause some unwanted jitter which is why it is disabled by default! |
Auto-centering is how your robot will center the wheels when there is no input provided. When auto-centering is enabled the Swerve Module will "snap" to 0 every time there is no input form the controller or autonomous. This can be desired by some teams but it is in no way recommended. Auto-centering causes issues at startup that sometimes misaligns your robot for autonomous, this can also cause more drift than normal. Auto-centering modules works by calling SwerveModule.setAntiJitter(false) so all side-effects of that action are present in swerve drives which use this!
You enable auto-centering by using SwerveDrive.setAutoCenteringModules(true)
/**
* Initialize {@link SwerveDrive} with the directory provided.
*
* @param directory Directory of swerve drive config files.
*/
public SwerveSubsystem(File directory)
{
// Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.
SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED);
swerveDrive.setAutoCenteringModules(true);
}