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tuner-swerve-project.json
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{
"Version": "1.0.0.0",
"LastState": 11,
"Modules": [
{
"ModuleName": "Front Left",
"ModuleId": 0,
"Encoder": {
"Id": 18,
"Name": "Front Left CANcoder",
"Model": "CANCoder vers. H",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": null,
"IsStandaloneFx": false
},
"SteerMotor": {
"Id": 6,
"Name": "Front Left Turn",
"Model": "Talon FX",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"DriveMotor": {
"Id": 1,
"Name": "Front Left Drive",
"Model": "Talon FX vers. C",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"IsEncoderInverted": false,
"IsSteerInverted": true,
"SelectedEncoderType": "CANcoder",
"EncoderOffset": -0.2392578125,
"DriveMotorSelectionState": 1,
"SteerMotorSelectionState": 1,
"SteerEncoderSelectionState": 1,
"IsModuleValidationComplete": true,
"ValidatedSteerId": 6,
"ValidatedDriveId": 1,
"ValidatedEncoderId": 18
},
{
"ModuleName": "Front Right",
"ModuleId": 1,
"Encoder": {
"Id": 21,
"Name": "Front Left CANcoder",
"Model": "CANCoder vers. H",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": null,
"IsStandaloneFx": false
},
"SteerMotor": {
"Id": 4,
"Name": "Front Right Turn",
"Model": "Talon FX",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"DriveMotor": {
"Id": 5,
"Name": "Front Right Drive",
"Model": "Talon FX vers. C",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"IsEncoderInverted": false,
"IsSteerInverted": true,
"SelectedEncoderType": "CANcoder",
"EncoderOffset": 0.081298828125,
"DriveMotorSelectionState": 1,
"SteerMotorSelectionState": 1,
"SteerEncoderSelectionState": 1,
"IsModuleValidationComplete": true,
"ValidatedSteerId": 4,
"ValidatedDriveId": 5,
"ValidatedEncoderId": 21
},
{
"ModuleName": "Back Left",
"ModuleId": 2,
"Encoder": {
"Id": 17,
"Name": "Back Left CANcoder",
"Model": "CANCoder vers. H",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": null,
"IsStandaloneFx": false
},
"SteerMotor": {
"Id": 2,
"Name": "Back Left Turn",
"Model": "Talon FX",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"DriveMotor": {
"Id": 3,
"Name": "Back Left Drive",
"Model": "Talon FX vers. C",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"IsEncoderInverted": false,
"IsSteerInverted": true,
"SelectedEncoderType": "CANcoder",
"EncoderOffset": 0.099365234375,
"DriveMotorSelectionState": 1,
"SteerMotorSelectionState": 1,
"SteerEncoderSelectionState": 1,
"IsModuleValidationComplete": true,
"ValidatedSteerId": 2,
"ValidatedDriveId": 3,
"ValidatedEncoderId": 17
},
{
"ModuleName": "Back Right",
"ModuleId": 3,
"Encoder": {
"Id": 19,
"Name": "Back Right CANcoder",
"Model": "CANCoder vers. H",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": null,
"IsStandaloneFx": false
},
"SteerMotor": {
"Id": 8,
"Name": "Back Right Turn",
"Model": "Talon FX",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"DriveMotor": {
"Id": 7,
"Name": "Back Right Drive",
"Model": "Talon FX vers. C",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": {
"Name": "WCP Kraken x60",
"FreeSpeedRps": 96.7,
"SlipCurrentLimit": 120,
"StatorCurrentLimit": 60
},
"IsStandaloneFx": false
},
"IsEncoderInverted": false,
"IsSteerInverted": true,
"SelectedEncoderType": "CANcoder",
"EncoderOffset": 0.151611328125,
"DriveMotorSelectionState": 1,
"SteerMotorSelectionState": 1,
"SteerEncoderSelectionState": 1,
"IsModuleValidationComplete": true,
"ValidatedSteerId": 8,
"ValidatedDriveId": 7,
"ValidatedEncoderId": 19
}
],
"SwerveOptions": {
"kSpeedAt12Volts": 5.1370140354266,
"Gyro": {
"Id": 20,
"Name": "Pigeon2",
"Model": "Pigeon 2 vers. S",
"CANbus": "A56F57BE46324B532020204A0B2C12FF",
"CANbusFriendly": "Drivebase",
"SelectedMotorType": null,
"IsStandaloneFx": false
},
"IsValidGyroCANbus": true,
"VerticalTrackSizeInches": 16.07874,
"HorizontalTrackSizeInches": 16.86614,
"WheelRadiusInches": 1.9,
"IsLeftSideInverted": false,
"IsRightSideInverted": true,
"SwerveModuleType": 4,
"SwerveModuleConfiguration": {
"ModuleBrand": 4,
"DriveRatio": 5.902777777777778,
"SteerRatio": 21.428571428571427,
"CouplingRatio": 3.125,
"CustomName": "L2 16T"
},
"HasVerifiedSteer": true,
"SelectedModuleManufacturer": "Swerve Drive Specialties (SDS)",
"HasVerifiedDrive": true,
"IsValidConfiguration": true
}
}