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PID Tuning, Controller Adjust

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This commit is contained in:
Aarav Shah
2022-01-14 17:48:53 -07:00
parent 28e970e398
commit 789f4f6a9b
9 changed files with 61 additions and 17 deletions
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src/main/java/frc4388/robot/RobotMap.java
+3
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@@ -6,7 +6,9 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -42,6 +44,7 @@ public class RobotMap {
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID);
void configureSwerveMotorControllers() {
leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);