{
  "Version": "1.0.0.0",
  "LastState": 11,
  "Modules": [
    {
      "ModuleName": "Front Left",
      "ModuleId": 0,
      "Encoder": {
        "Id": 13,
        "Name": "Mod1 Cancoder",
        "Model": "CANCoder vers. H",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": null
      },
      "SteerMotor": {
        "Id": 12,
        "Name": "Mod1 Angle",
        "Model": "Talon FX",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "DriveMotor": {
        "Id": 11,
        "Name": "Mod1 Drive",
        "Model": "Talon FX vers. C",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "IsEncoderInverted": false,
      "IsSteerInverted": false,
      "SelectedEncoderType": "CANcoder",
      "EncoderOffset": -0.412841796875,
      "DriveMotorSelectionState": 1,
      "SteerMotorSelectionState": 1,
      "SteerEncoderSelectionState": 1,
      "IsModuleValidationComplete": true,
      "ValidatedSteerId": 12,
      "ValidatedDriveId": 11,
      "ValidatedEncoderId": 13
    },
    {
      "ModuleName": "Front Right",
      "ModuleId": 1,
      "Encoder": {
        "Id": 23,
        "Name": "Mod2 Cancoder",
        "Model": "CANCoder vers. H",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": null
      },
      "SteerMotor": {
        "Id": 22,
        "Name": "Mod2 Angle",
        "Model": "Talon FX",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "DriveMotor": {
        "Id": 21,
        "Name": "Mod2 Drive",
        "Model": "Talon FX vers. C",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "IsEncoderInverted": false,
      "IsSteerInverted": false,
      "SelectedEncoderType": "CANcoder",
      "EncoderOffset": -0.012939453125,
      "DriveMotorSelectionState": 1,
      "SteerMotorSelectionState": 1,
      "SteerEncoderSelectionState": 1,
      "IsModuleValidationComplete": true,
      "ValidatedSteerId": 22,
      "ValidatedDriveId": 21,
      "ValidatedEncoderId": 23
    },
    {
      "ModuleName": "Back Left",
      "ModuleId": 2,
      "Encoder": {
        "Id": 3,
        "Name": "Mod0 Cancoder",
        "Model": "CANCoder",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": null
      },
      "SteerMotor": {
        "Id": 2,
        "Name": "Mod0 Angle",
        "Model": "Talon FX",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "DriveMotor": {
        "Id": 1,
        "Name": "Mod0 Drive",
        "Model": "Talon FX vers. C",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "IsEncoderInverted": false,
      "IsSteerInverted": false,
      "SelectedEncoderType": "CANcoder",
      "EncoderOffset": 0.07275390625,
      "DriveMotorSelectionState": 1,
      "SteerMotorSelectionState": 1,
      "SteerEncoderSelectionState": 1,
      "IsModuleValidationComplete": true,
      "ValidatedSteerId": 2,
      "ValidatedDriveId": 1,
      "ValidatedEncoderId": 3
    },
    {
      "ModuleName": "Back Right",
      "ModuleId": 3,
      "Encoder": {
        "Id": 33,
        "Name": "Mod3 Cancoder",
        "Model": "CANCoder vers. H",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": null
      },
      "SteerMotor": {
        "Id": 32,
        "Name": "Mod3 Angle",
        "Model": "Talon FX",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "DriveMotor": {
        "Id": 31,
        "Name": "Mod3 Drive",
        "Model": "Talon FX vers. C",
        "CANbus": "rio",
        "CANbusFriendly": "",
        "SelectedMotorType": {
          "Name": "WCP Kraken x60",
          "FreeSpeedRps": 96.7,
          "SlipCurrentLimit": 120,
          "StatorCurrentLimit": 60
        }
      },
      "IsEncoderInverted": false,
      "IsSteerInverted": false,
      "SelectedEncoderType": "CANcoder",
      "EncoderOffset": -0.4892578125,
      "DriveMotorSelectionState": 1,
      "SteerMotorSelectionState": 1,
      "SteerEncoderSelectionState": 1,
      "IsModuleValidationComplete": true,
      "ValidatedSteerId": 32,
      "ValidatedDriveId": 31,
      "ValidatedEncoderId": 33
    }
  ],
  "SwerveOptions": {
    "Gyro": {
      "Id": 0,
      "Name": "Pigeon 2 vers. S (Device ID 0)",
      "Model": "Pigeon 2 vers. S",
      "CANbus": "rio",
      "CANbusFriendly": "",
      "SelectedMotorType": null
    },
    "IsValidGyroCANbus": true,
    "VerticalTrackSizeInches": 22.75,
    "HorizontalTrackSizeInches": 22.75,
    "WheelRadiusInches": 1.81,
    "IsLeftSideInverted": false,
    "IsRightSideInverted": true,
    "SwerveModuleType": 6,
    "SwerveModuleConfiguration": {
      "ModuleBrand": 6,
      "DriveRatio": 5.902777777777778,
      "SteerRatio": 12.8,
      "CouplingRatio": 3.125,
      "CustomName": "L2+"
    },
    "HasVerifiedSteer": true,
    "SelectedModuleManufacturer": "Swerve Drive Specialties (SDS)",
    "HasVerifiedDrive": true,
    "IsValidConfiguration": true
  },
  "TeamNumber": 6494,
  "schema_version": "1"
}