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Encoder offsets.

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This commit is contained in:
‮Zach Wilke
2021-12-06 16:41:28 -07:00
parent 7672d58439
commit 5f3e48b0ec
3 changed files with 17 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -4
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@@ -76,13 +76,13 @@ public class SwerveDrive extends SubsystemBase
SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
// Front left module state
SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], new Rotation2d(m_leftFrontEncoder.getPosition()));
SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
// Front right module state
SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], new Rotation2d(m_rightFrontEncoder.getPosition()));
SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
// Back left module state
SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], new Rotation2d(m_leftBackEncoder.getPosition()));
SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
// Back right module state
SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(m_rightBackEncoder.getPosition()));
SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
//Set the Wheel motor speeds
m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);