Zeroing Module
Last updated
Last updated
Both of the below methods align the wheel at a 45 degree angle from straight. Be mindful of this when programming your swerve drive. This allows all modules to be setup the same, including spare modules, which makes it easier to do encoder or module swaps without needing to redo any zeroing process.
If you are utilizing the WCP ThroughBore by CANcoder (1/2" Hex bore), you can avoid going through a zeroing process for your wheel positions.
The ThroughBore encoder hat that is installed on the module has a notch on it, and when aligned with the notch on the WCP ThroughBore by CANcoder, all of your modules will have the exact same zero position of the wheel relative to the encoder.
For the above to work, the encoder must be mounted in the same orientation and position on all of your modules, regardless of whether right-hand or left-hand plates are being used. When looking top-down at your robot, the positions the encoders are mounted in should be pointing in the general direction of the red arrows in the diagram above. All top module plates have mount holes for the encoder on both sides of the plate to ensure all encoders can always be setup like the diagram above. This includes both the rotational position of the encoder relative to the module, and whether the encoder is facing up or down (we recommend having the side with the LED facing down on the module).
The Zeroing jig below will be used to help align the wheel to the module so that a zero can be set in code.
Once you have your zeroing jig printed or purchased, zeroing the module will be a breeze. Simply align the jig with the wheel fork and the sides of the main bottom plate of the module.
The fork without the bevel gear must be the one to sit against the zeroing jig to work properly. Make sure that the bevel gear on the wheel is facing towards the inside of the module/robot.
