Setting steer offsets for a Mk 4i drivetrain

Put the robot up on blocks 

 Begin with the bevel gear (the black ring on one side of the wheel) on the modules all facing inward

 

 Use a straight edge to ensure the modules on each side are all facing the same direction 

 

 

 Deploy code that sets the angle offset to Rotation2D.fromDegrees(0.0) 

 Open the driver station and pull up the labview (default) dashboard. go to the variables tab 

 The value you are looking for could have any name. It will be derived from something like  Rotation2D.getDegrees() 

 Set this value to the angle offset for each module exactly 

 

 e.g. Rotation2D.fromDegrees(12.3243) 

 

 

 Deploy code 

 Test 

 If a wheel is spinning the opposite direction of what it should be, add 180.0 to the angle offset