EasySwerve Software

Steering Encoder Calibration

1. Verify you have completely assembled your EasySwerve Module and have the Steering Motor’s SPARK Flex or SPARK MAX connected to the EasySwerve's Through Bore Encoder.

2. Install and open the latest version of the REV Hardware Client onto a Windows computer.

3. Connect the Steering Motor’s SPARK Motor Controller directly to your computer via the included USB-C to USB-A cable

4. Select the Steering SPARK and navigate to the Update Tab to verify your Firmware is up to date.

5. Select the Steering SPARK in the sidebar, and then select the AbsoluteEncoder Tab.

6. Insert a 1/8in or 3mm Hex Key into the calibration on the top of the EasySwerve Module. You will feel the Hex Key reach the azimuth gear inside of the top cover.

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7. Rotate the module's wheel manually while applying light pressure to the hex key until it slots into the alignment pocket. The Hex key will travel about 1/4in further into the swerve module when it has aligned.

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8. Ensure that the Direction parameter is set to Inverted in the Duty Cycle Absolute Encoder Settings section above.

9. Click the Set Zero Offset button to calibrate the zero-position of the absolute encoder to this position.

Code Guide