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⌛ How to resolve this issue?After the wait time has elapsed, a review can be triggered using the We recommend that you space out your commits to avoid hitting the rate limit. 🚦 How do rate limits work?CodeRabbit enforces hourly rate limits for each developer per organization. Our paid plans have higher rate limits than the trial, open-source and free plans. In all cases, we re-allow further reviews after a brief timeout. Please see our FAQ for further information. WalkthroughTwo swerve module files were modified. SwerveModuleConstants adds a new COUPLED_RATIO constant and updates DRIVE_MOTOR_GEAR_RATIO from 7.03 to 6.03. SwerveModule re-enables three imports and modifies getDriveWheelPositionRadians to apply steering angle coupling by subtracting steering rotation scaled by COUPLED_RATIO before converting to radians. In setTargetClosedLoopDriveVelocity, a local velocityToSet variable is calculated using COUPLED_RATIO but remains unused in the subsequent motor control call, which continues using the original targetDriveVelocityRotationsPerSecond value. 🚥 Pre-merge checks | ✅ 1 | ❌ 3❌ Failed checks (2 warnings, 1 inconclusive)
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| public double getDriveWheelPositionRadians() { | ||
| return edu.wpi.first.math.util.Units.rotationsToRadians(driveMotor.getSignal(TalonFXSignal.POSITION)); | ||
| final double driveWheelPositionRotations = driveMotor.getSignal(TalonFXSignal.POSITION); | ||
| final double wheelAngleRotations = getCurrentSteerAngle().getRotations(); | ||
| final double driveWheelPositionWithCouplingRatioRotations = driveWheelPositionRotations - (wheelAngleRotations * SwerveModuleConstants.COUPLED_RATIO); | ||
| return edu.wpi.first.math.util.Units.rotationsToRadians(driveWheelPositionWithCouplingRatioRotations); | ||
| } |
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Apply coupling correction in getOdometryPosition for consistency with getDriveWheelPositionRadians.
getDriveWheelPositionRadians compensates for steering coupling, but getOdometryPosition calls driveWheelRotationsToMeters on the raw odometry drive position without any correction. This inconsistency means pose estimates from odometry will diverge from the coupling-corrected position used elsewhere.
Apply the same correction in getOdometryPosition using the odometry steer angle snapshot (latestOdometrySteerPositions[odometryUpdateIndex]) to maintain temporal consistency:
final double drivePositionWithCouplingCorrected = latestOdometryDrivePositions[odometryUpdateIndex] -
(Rotation2d.fromRotations(latestOdometrySteerPositions[odometryUpdateIndex]).getRotations() * SwerveModuleConstants.COUPLED_RATIO);
return new SwerveModulePosition(
driveWheelRotationsToMeters(drivePositionWithCouplingCorrected),
Rotation2d.fromRotations(latestOdometrySteerPositions[odometryUpdateIndex])
);
| private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) { | ||
| final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond); | ||
| final double driveRateBackOut = targetDriveVelocityRotationsPerSecond * SwerveModuleConstants.COUPLED_RATIO; | ||
| final double velocityToSet = driveRateBackOut; | ||
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| driveMotor.setControl(driveVelocityRequest.withVelocity(targetDriveVelocityRotationsPerSecond)); | ||
| } |
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velocityToSet is computed but never used—the motor still receives the uncorrected velocity.
Line 163 passes targetDriveVelocityRotationsPerSecond to the motor instead of velocityToSet. The coupling compensation has no effect.
Additionally, the formula itself looks incorrect. Coupling compensation for velocity should involve the steer velocity, not the drive velocity. The typical pattern is:
velocityToSet = targetDriveVelocityRotationsPerSecond + steerVelocityRotationsPerSecond * COUPLED_RATIO
This adds a feed-forward term to counteract the parasitic drive caused by steering motion. Right now driveRateBackOut = targetDriveVelocityRotationsPerSecond * COUPLED_RATIO scales the drive velocity by the coupling ratio, which doesn't model the physical coupling.
Proposed fix (verify the coupling direction sign for your module)
private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) {
final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond);
- final double driveRateBackOut = targetDriveVelocityRotationsPerSecond * SwerveModuleConstants.COUPLED_RATIO;
- final double velocityToSet = driveRateBackOut;
+ final double steerVelocityRotationsPerSecond = steerMotor.getSignal(TalonFXSignal.VELOCITY);
+ final double couplingCompensation = steerVelocityRotationsPerSecond * SwerveModuleConstants.COUPLED_RATIO;
+ final double velocityToSet = targetDriveVelocityRotationsPerSecond + couplingCompensation;
- driveMotor.setControl(driveVelocityRequest.withVelocity(targetDriveVelocityRotationsPerSecond));
+ driveMotor.setControl(driveVelocityRequest.withVelocity(velocityToSet));
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| private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) { | |
| final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond); | |
| final double driveRateBackOut = targetDriveVelocityRotationsPerSecond * SwerveModuleConstants.COUPLED_RATIO; | |
| final double velocityToSet = driveRateBackOut; | |
| driveMotor.setControl(driveVelocityRequest.withVelocity(targetDriveVelocityRotationsPerSecond)); | |
| } | |
| private void setTargetClosedLoopDriveVelocity(double targetVelocityMetersPerSecond) { | |
| final double targetDriveVelocityRotationsPerSecond = metersToDriveWheelRotations(targetVelocityMetersPerSecond); | |
| final double steerVelocityRotationsPerSecond = steerMotor.getSignal(TalonFXSignal.VELOCITY); | |
| final double couplingCompensation = steerVelocityRotationsPerSecond * SwerveModuleConstants.COUPLED_RATIO; | |
| final double velocityToSet = targetDriveVelocityRotationsPerSecond + couplingCompensation; | |
| driveMotor.setControl(driveVelocityRequest.withVelocity(velocityToSet)); | |
| } |
| import frc.trigon.robot.constants.AutonomousConstants; | ||
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| public class SwerveModuleConstants { | ||
| static final double COUPLED_RATIO = 3; |
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🧹 Nitpick | 🔵 Trivial
Add a brief comment explaining what COUPLED_RATIO represents physically.
The other gear ratios have clarifying comments (e.g., R1: 7.03, R2: 6.03, R3: 5.27). A similar note here—e.g., the bevel gear teeth ratio or the mechanical source of this value—would help future readers understand why it's 3 and when it should change.
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