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Bug fixes

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This commit is contained in:
aarav18
2021-12-16 16:22:36 -07:00
parent 15c7b2da19
commit 6c99069847
4 changed files with 37 additions and 37 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -15
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@@ -33,20 +33,20 @@ public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 0;
public static final double HEIGHT = 0;
public static final int LEFT_FRONT_STEER_CAN_ID = 0;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 0;
public static final int RIGHT_FRONT_STEER_CAN_ID = 0;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ID = 0;
public static final int LEFT_BACK_WHEEL_CAN_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ID = 0;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 0;
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 0;
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 0;
public static final double WIDTH = 22;
public static final double HEIGHT = 22;
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
public static final int LEFT_BACK_STEER_CAN_ID = 6;
public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
public static final int RIGHT_BACK_STEER_CAN_ID = 8;
public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
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;
@@ -57,7 +57,7 @@ public final class Constants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;