SysID drive routine wheels not guaranteed to spin in the right direction
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Ocean-Moist commented
The modules go to an angle that is parallel to the robot frame, but sometimes (often) some modules need to be spun 180 degrees because the wheels are driving in an opposite direction.
Basically, either all the swerve modules need to go to either 0 or 180, or the sign of the voltages have to take into consideration how the wheel is oriented.
thenetworkgrinch commented
Pretty sure this is a configuration issue on your end, reopen if inverting in the config does not solve this.