tim bot chassis calibration

[coldsubstance-deb]

all four corners turn and drive. wheels don't spin to the correct orientation or direction. code is able to identify the robot and serial #. can bus 26 27 22 and 23 are giving an error.

[elenasimonee]

CAN frame not received/too-stale. Check the CAN bus wiring,
CAN bus utilization, and power to the device.
Module FrontLeft: Set Offset=-175.6.
Initial CANCODER absolute angle=0.0 rotations,
Initial CANCODER angle=0.0 rotations
Module FrontLeft: CANCODER Angle after offset programmed=0.0 rotations
[CAN SPARK] IDs: 20, 21, Received parameter invalid error parameter id 17
FrontLeft passed reality checks.
Module FrontLeft: NEO post-calibrate angle=0.0
Could not transmit CAN Frame.
CAN frame not received/too-stale.
Check the CAN bus wiring, CAN bus utilization, and power to the device.
Module FrontRight: Set Offset=-162.15.
Initial CANCODER absolute angle=0.0 rotations,
Initial CANCODER angle=0.0 rotations
Module FrontRight: CANCODER Angle after offset programmed=0.0 rotations
Could not transmit CAN Frame.
CAN frame not received/too-stale. Check the CAN bus wiring,
CAN bus utilization, and power to the device.
Module FrontRight: Set Offset=-162.15.
Initial CANCODER absolute angle=0.0 rotations,
Initial CANCODER angle=0.0 rotations
Module FrontRight: CANCODER Angle after offset programmed=0.0 rotations
FrontRight passed reality checks.
Module FrontRight: NEO post-calibrate angle=0.0
Could not transmit CAN Frame.
CAN frame not received/too-stale.
Check the CAN bus wiring, CAN bus utilization, and power to the device.
Module BackLeft: Set Offset=-115.4.
Initial CANCODER absolute angle=0.0 rotations,
Initial CANCODER angle=0.0 rotations
Module BackLeft: CANCODER Angle after offset programmed=0.0 rotations
Skipped burning flash.
BackLeft passed reality checks.
Module BackLeft: NEO post-calibrate angle=0.0
CAN frame not received/too-stale.
Check the CAN bus wiring,
CAN bus utilization, and power to the device.
Could not transmit CAN Frame.
[CAN SPARK] IDs: 22, 23, 26, 27, Received parameter invalid error parameter id 17
CAN frame not received/too-stale.
Check the CAN bus wiring, CAN bus utilization, and power to the device.
Module BackRight: Set Offset=158.81.
Initial CANCODER absolute angle=0.0 rotations,
Initial CANCODER angle=0.0 rotations
Module BackRight: CANCODER Angle after offset programmed=0.0 rotations
Skipped burning flash.
BackRight passed reality checks.
Module BackRight: NEO post-calibrate angle=0.0
[phoenix-diagnostics] Server 2024.1.0 (Apr 30 2024, 17:31:56) running on port: 1250
================Offsets==================
FrontLeft: offset -175.6, measured 0.0, should be -175.6
FrontRight: offset -162.15, measured 0.0, should be -162.15
BackLeft: offset -115.4, measured 0.0, should be -115.4
BackRight: offset 158.81, measured 0.0, should be 158.81
============Offsets Done==============

[dlaufen]

Looks like a may have copied from a different bot's setting. Possible fix pushed.

[elenasimonee]

New offsets didn't work. debugging the cancoder didn't show values changing while debugging. Next steps: talk to it with Phoenix Tuner and manually check offsets, step 2: confirm we are using new library correctly!

[elenasimonee]

================Offsets==================
FrontLeft: offset 0.0, measured 0.0 m2 = 0.0, should be 0.0
FrontRight: offset 0.0, measured 0.0 m2 = 0.0, should be 0.0
BackLeft: offset 0.0, measured 0.0 m2 = 0.0, should be 0.0
BackRight: offset 0.0, measured 0.0 m2 = 0.0, should be 0.0
============Offsets Done==============

[dlaufen]

Found we were initializing the cancoder in two places. Cleaned up so it is done once in SwerveDrivetrain so by the time it's passed into the sub-module it will have it's offset. Cleans up the sub-module constructor a bit.
Add statusCode checking on the config application with messages if things go wrong.
we can test at next meeting.

[elenasimonee]

================OffsetDebug================== 
 FrontLeft: offset=97.382, internal=-0.087890625 cancoder_measured=0.0, if wheel zero aligned adjust offset by 97.469890625 
 FrontRight: offset=176.7479, internal=-0.17578125 cancoder_measured=-0.17578125, if wheel zero aligned adjust offset by 176.92368125 
 BackLeft: offset=-93.515, internal=0.0 cancoder_measured=-0.087890625, if wheel zero aligned adjust offset by -93.515 
 BackRight: offset=28.7217, internal=0.0 cancoder_measured=0.0, if wheel zero aligned adjust offset by 28.7217 
 ============OffsetDebug Done==============