In this video I walk through using the Swerve Generator feature in CTRE's Phoenix Tuner X to generate and test swerve drive code.
Download Phoenix Tuner X:
https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/index.html
CTRE Swerve with Pathplanner example: https://github.com/CrossTheRoadElec/Phoenix6-Examples/tree/main/java/SwerveWithPathPlanner
0:00 Intro
0:46 Getting Started
1:40 Updating Devices
2:19 Assigning CAN id's, Names
3:51 Starting with the Generator
5:35 Module Config and Verification
10:33 Calibrate Encoders
12:14 Verify Steering Motors
14:20 Verify Drive Motors
15:40 Generating Code
17:07 My Recommended Changes
18:08 Code Tour
20:29 Testing the code
22:19 Free Path Planner!
24:46 Outro