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aarav18
2022-02-05 15:51:32 -07:00
parent e9859e90c6
commit e0d293a0bc
10 changed files with 16 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+5 -4
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@@ -49,9 +49,9 @@ public class SwerveModule extends SubsystemBase {
angleMotor.configAllSettings(angleTalonFXConfiguration);
TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
driveTalonFXConfiguration.slot0.kP = 1.0;
driveTalonFXConfiguration.slot0.kP = 0.15;
driveTalonFXConfiguration.slot0.kI = 0.0;
driveTalonFXConfiguration.slot0.kD = 0.0;
driveTalonFXConfiguration.slot0.kD = 0.5;
driveMotor.configAllSettings(driveTalonFXConfiguration);
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
@@ -89,8 +89,9 @@ public class SwerveModule extends SubsystemBase {
}
// double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
// driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC);
}
/**