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AimToCenter works without fixing odometry issues

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aarav18
2022-03-19 16:37:59 -06:00
parent 87de6a2c2f
commit dbc1e070e0
7 changed files with 58 additions and 41 deletions
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src/main/java/frc4388/robot/Constants.java
+14 -14
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@@ -37,26 +37,26 @@ public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 3.0;
public static final double WIDTH = 23.5;
public static final double HEIGHT = 23.5;
public static final double WIDTH = 23.75;
public static final double HEIGHT = 23.75;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20; // TODO: redundant constant?
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // TODO: redundant constant?
// IDs
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; //
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; // *
public static final int GYRO_ID = 14;
// offsets are in degrees