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tuner-swerve-project.json
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{
"SwerveOptions": {
"HorizontalTrackSizeInches": 22.5,
"HasVerifiedSteer": true,
"HasVerifiedDrive": true,
"IsLeftSideInverted": false,
"SwerveModuleType": 3,
"VerticalTrackSizeInches": 22.5,
"IsValidConfiguration": true,
"IsRightSideInverted": true,
"IsValidGyroCANbus": true,
"WheelRadiusInches": 1.9,
"Gyro": {
"Model": "Pigeon 2",
"Id": 19,
"CANbus": "rio",
"Name": "Pigeon 2 (Device ID 19)",
"CANbusFriendly": ""
},
"SwerveModuleConfiguration": {
"DriveRatio": 8.142857142857142,
"CustomName": "L1",
"Flipped": 3,
"CouplingRatio": 3.5714285714285716,
"_CouplingRatio": 3.5714285714285716,
"_CustomName": "L1",
"SteerRatio": 12.8
}
},
"LastState": 11,
"Version": "1.0.0.0",
"Modules": [
{
"IsSteerInverted": false,
"SteerEncoderSelectionState": 1,
"ValidatedEncoderId": 15,
"ModuleName": "Front Left",
"IsConfigurationCompleted": true,
"DriveMotor": {
"Model": "Talon FX",
"Id": 7,
"CANbus": "rio",
"Name": "FLDrive",
"CANbusFriendly": ""
},
"IsModuleValidationComplete": true,
"EncoderOffset": -0.314208984375,
"DriveMotorSelectionState": 1,
"ValidatedSteerId": 11,
"IsEncoderOffsetConfigured": true,
"ModuleId": 0,
"IsDeviceSelectionCompleted": true,
"SteerMotor": {
"Model": "Talon FX",
"Id": 11,
"CANbus": "rio",
"Name": "FLSteer",
"CANbusFriendly": ""
},
"Encoder": {
"Model": "CANCoder",
"Id": 15,
"CANbus": "rio",
"Name": "FLCancoder",
"CANbusFriendly": ""
},
"SteerMotorSelectionState": 1,
"ValidatedDriveId": 7
},
{
"IsSteerInverted": false,
"SteerEncoderSelectionState": 1,
"ValidatedEncoderId": 16,
"ModuleName": "Front Right",
"IsConfigurationCompleted": true,
"DriveMotor": {
"Model": "Talon FX",
"Id": 8,
"CANbus": "rio",
"Name": "FRDrive",
"CANbusFriendly": ""
},
"IsModuleValidationComplete": true,
"EncoderOffset": 0.4072265625,
"DriveMotorSelectionState": 1,
"ValidatedSteerId": 12,
"IsEncoderOffsetConfigured": true,
"ModuleId": 1,
"IsDeviceSelectionCompleted": true,
"SteerMotor": {
"Model": "Talon FX",
"Id": 12,
"CANbus": "rio",
"Name": "FRSteer",
"CANbusFriendly": ""
},
"Encoder": {
"Model": "CANCoder",
"Id": 16,
"CANbus": "rio",
"Name": "FRCancoder",
"CANbusFriendly": ""
},
"SteerMotorSelectionState": 1,
"ValidatedDriveId": 8
},
{
"IsSteerInverted": false,
"SteerEncoderSelectionState": 1,
"ValidatedEncoderId": 17,
"ModuleName": "Back Left",
"IsConfigurationCompleted": true,
"DriveMotor": {
"Model": "Talon FX",
"Id": 9,
"CANbus": "rio",
"Name": "BLDrive",
"CANbusFriendly": ""
},
"IsModuleValidationComplete": true,
"EncoderOffset": 0.281982421875,
"DriveMotorSelectionState": 1,
"ValidatedSteerId": 13,
"IsEncoderOffsetConfigured": true,
"ModuleId": 2,
"IsDeviceSelectionCompleted": true,
"SteerMotor": {
"Model": "Talon FX",
"Id": 13,
"CANbus": "rio",
"Name": "BLSteer",
"CANbusFriendly": ""
},
"Encoder": {
"Model": "CANCoder",
"Id": 17,
"CANbus": "rio",
"Name": "BLCancoder",
"CANbusFriendly": ""
},
"SteerMotorSelectionState": 1,
"ValidatedDriveId": 9
},
{
"IsSteerInverted": false,
"SteerEncoderSelectionState": 1,
"ValidatedEncoderId": 18,
"ModuleName": "Back Right",
"IsConfigurationCompleted": true,
"DriveMotor": {
"Model": "Talon FX",
"Id": 10,
"CANbus": "rio",
"Name": "BRDrive",
"CANbusFriendly": ""
},
"IsModuleValidationComplete": true,
"EncoderOffset": -0.281494140625,
"DriveMotorSelectionState": 1,
"ValidatedSteerId": 14,
"IsEncoderOffsetConfigured": true,
"ModuleId": 3,
"IsDeviceSelectionCompleted": true,
"SteerMotor": {
"Model": "Talon FX",
"Id": 14,
"CANbus": "rio",
"Name": "BRSteer",
"CANbusFriendly": ""
},
"Encoder": {
"Model": "CANCoder",
"Id": 18,
"CANbus": "rio",
"Name": "BRCancoder",
"CANbusFriendly": ""
},
"SteerMotorSelectionState": 1,
"ValidatedDriveId": 10
}
]
}