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Swerve fixes

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Ryan Manley
2022-02-19 11:16:24 -07:00
parent 32ae624588
commit a3fc1b4d14
4 changed files with 29 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -53,10 +53,10 @@ public final class Constants {
public static final int GYRO_ID = 14;
// ofsets are in degrees
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;
public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;