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Swerve fixes

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This commit is contained in:
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/RobotMap.java
+9 -8
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@@ -91,14 +91,15 @@ public class RobotMap {
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake);
leftFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast
rightFrontSteerMotor.setNeutralMode(NeutralMode.Brake);
rightFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast
leftBackSteerMotor.setNeutralMode(NeutralMode.Brake);
leftBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast
rightBackSteerMotor.setNeutralMode(NeutralMode.Brake);
rightBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast
NeutralMode mode = NeutralMode.Brake;
leftFrontSteerMotor.setNeutralMode(mode);
leftFrontWheelMotor.setNeutralMode(mode);//Coast
rightFrontSteerMotor.setNeutralMode(mode);
rightFrontWheelMotor.setNeutralMode(mode);//Coast
leftBackSteerMotor.setNeutralMode(mode);
leftBackWheelMotor.setNeutralMode(mode);//Coast
rightBackSteerMotor.setNeutralMode(mode);
rightBackWheelMotor.setNeutralMode(mode);//Coast
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);