wpi-emulator (Overture-7421)FirmwareConfidence: Medium

swerve steer wheels spun nonstop in an FRC robot sim because the firmware sim assumed a Kraken X60 while the plant simulated the X44 actually fitted, so two back-EMF terms disagreed and the loop limit-cycled; measured steer travel was 17-182 rad before the fix, 6-8 rad after.

Impact Analysis

Persona

Firmware Engineer

Team Size Impact

5x Multiplier

Prototype Delay

3 Days

Est. Annual Cost

$30,000

1 user · 1 month240 min
Rest of team960 min
Rest of year13,200 min

monthly_minutes × 12 × team_multiplier ÷ 60 × $75/hr = $30k/yr

$75/hr assumed rate.

Annual team-minutes decomposed from the reported monthly inputs.

Evidence & Sources

1 Sources

Overture-7421/wpi-emulator PR #28: Fix swerve steer wheels spinning: sync the firmware sim's motor type with the plant

github.com

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Analyst Notes

From the Grok pain-radar digest, Oct 25-26 2026 (Oct 25 daytime to Oct 26 morning slots). Verified live 2026-10-26: issue/PR read on GitHub; title and state confirmed.