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FIX and FAST

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This commit is contained in:
Aarav Shah
2022-01-11 19:57:50 -07:00
parent a87c9a1e34
commit 06091a9bd9
5 changed files with 161 additions and 143 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -4
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@@ -42,10 +42,15 @@ public final class Constants {
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
// ofsets are in degrees
public static final float LEFT_FRONT_ENCODER_OFFSET = 0;
public static final float RIGHT_FRONT_ENCODER_OFFSET = 0;
public static final float LEFT_BACK_ENCODER_OFFSET = 0;
public static final float RIGHT_BACK_ENCODER_OFFSET = 0;
//ofsets are in degrees
// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281;
// public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531;
// public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594;
public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;