Team4388/2023WayOfTheRobot
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neutralmode re-implementation

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This commit is contained in:
Aarav Shah
2023-02-27 18:32:20 -07:00
committed by GitHub
parent df469608ac
commit 392fc5f1a9
1 changed files with 7 additions and 0 deletions
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src/main/java/frc4388/robot/RobotMap.java
+7
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@@ -8,6 +8,7 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
@@ -112,6 +113,12 @@ public class RobotMap {
rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
// set neutral mode
leftFrontSteer.setNeutralMode(NeutralMode.Brake);
rightFrontSteer.setNeutralMode(NeutralMode.Brake);
leftBackSteer.setNeutralMode(NeutralMode.Brake);
rightBackSteer.setNeutralMode(NeutralMode.Brake);
// initialize SwerveModules
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);