Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

java docs and yaw print

Browse Source
This commit is contained in:
aarav18
2022-02-17 19:52:05 -07:00
parent 749085a0b6
commit 32ae624588
5 changed files with 38 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+10 -4
View File
@@ -62,7 +62,7 @@ public class SwerveModule extends SubsystemBase {
private Rotation2d getAngle() {
// Note: This assumes the CANCoders are setup with the default feedback coefficient
// and the sesnor value reports degrees.
// and the sensor value reports degrees.
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
}
@@ -90,20 +90,26 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
// driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
// Add this line to correct for the slight drive movement the angle motor makes when turning in place.
// driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
}
/**
* Returns the current state of the module.
* Get current module state.
*
* @return The current state of the module.
* @return The current state of the module in m/s.
*/
public SwerveModuleState getState() {
// return state;
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
}
/**
* Stop the drive and steer motors of current module.
*/
public void stop() {
driveMotor.set(0);
angleMotor.set(0);