offsets (INCOMPLETE DO NOT TOUCH)

src/main/java/frc4388/robot/Constants.java

@@ -23,6 +23,9 @@ import frc4388.utility.LEDPatterns;
  */
 public final class Constants {
   public static final class SwerveDriveConstants {
+
+    public static final double ROTATION_SPEED = 2.0;
+
     public static final class IDs {
       public static final int LEFT_FRONT_WHEEL_ID = 2;
       public static final int LEFT_FRONT_STEER_ID = 3;
@@ -85,15 +88,21 @@ public final class Constants {
       public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
       public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
 
-      // public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // TODO: find the actual value
+      // public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // * 2022 SwerveDrive values
-      // public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // TODO: find the actual value
+      // public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // * 2022 SwerveDrive values
-      // public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // TODO: find the actual value
+      // public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // * 2022 SwerveDrive values
-      // public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // TODO: find the actual value
+      // public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // * 2022 SwerveDrive values
+      
+      // public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // * 2023 translated values (don't work)
+      // public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // * 2023 translated values (don't work)
+      // public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // * 2023 translated values (don't work)
+      // public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // * 2023 translated values (don't work)
+      
+      // public static final double LEFT_FRONT_ENCODER_OFFSET = 0.0 + 90.0; // * 2023 experimentally-derived values (mostly work) 
+      // public static final double RIGHT_FRONT_ENCODER_OFFSET = 0.0; // * 2023 experimentally-derived values (mostly work) 
+      // public static final double LEFT_BACK_ENCODER_OFFSET = 0.0 + 24.0; // * 2023 experimentally-derived values (mostly work) 
+      // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0 + 45.0 + 180.0; // * 2023 experimentally-derived values (mostly work)  
       
-      public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.6466 + 180 - 90) % 360.; // TODO: find the actual value
-      public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 9.3156 - 180 - 90) % 360.; // TODO: find the actual value
-      public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // TODO: find the actual value
-      public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // TODO: find the actual value
     }
 
     public static final double MAX_SPEED_FEET_PER_SECOND = 10; // TODO: find the actual value

src/main/java/frc4388/robot/RobotContainer.java

@@ -53,18 +53,26 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
 
-        m_robotSwerveDrive.setDefaultCommand(
+        // m_robotSwerveDrive.setDefaultCommand(
-            new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-0.3*getDriverController().getLeftXAxis(), 
+        //     new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-0.3*getDriverController().getLeftXAxis(), 
-                                                                    0.3*getDriverController().getLeftYAxis(), 
+        //                                                             0.3*getDriverController().getLeftYAxis(), 
-                                                                   -0.3*getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
+        //                                                            -0.3*getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
-        );
+        // );
 
         // m_robotSwerveDrive.setDefaultCommand(
-        //     new RunCommand(() -> m_robotSwerveDrive.runAllSteerMotors(0.2*getDriverController().getLeftYAxis()), m_robotSwerveDrive)
+        //     new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0, 
-        // );
+        //                                                             -0.1, 
-        // m_robotSwerveDrive.setDefaultCommand(
+        //                                                            0, false), m_robotSwerveDrive)
-        //     new RunCommand(() -> m_robotSwerveDrive.leftBack.angleMotor.set(0.2*getDriverController().getRightYAxis()), m_robotSwerveDrive)
         // );
+
+        m_robotSwerveDrive.setDefaultCommand(
+            new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
+                -0.3 * getDriverController().getLeftXAxis(),
+                0.3 * getDriverController().getLeftYAxis(),
+                0.3 * getDriverController().getRightXAxis(),
+                0.3 * getDriverController().getRightYAxis(),
+                true),
+                m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
     }
 
     /**
@@ -85,6 +93,12 @@ public class RobotContainer {
         //     .whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
         //     .whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
 
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
+        
+        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
+
         //New interupt button
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
             .onTrue(new InstantCommand());

src/main/java/frc4388/robot/RobotMap.java

@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.subsystems.SwerveModule;
+import frc4388.utility.RobotEncoder;
 import frc4388.utility.RobotGyro;
 
 /**
@@ -48,18 +49,22 @@ public class RobotMap {
   public final WPI_TalonFX leftFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL_ID);
   public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
   public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
+  //public final RobotEncoder leftFrontEncoder = new RobotEncoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID, 268.900);
 
   public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
   public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
   public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
+  //public final RobotEncoder rightFrontEncoder = new RobotEncoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID, 266.700);
     
   public final WPI_TalonFX leftBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL_ID);
   public final WPI_TalonFX leftBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER_ID);
   public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID);
+  //public final RobotEncoder leftBackEncoder = new RobotEncoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER_ID, 268.285);
 
   public final WPI_TalonFX rightBackWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL_ID);
   public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
   public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
+  //public final RobotEncoder rightBackEncoder = new RobotEncoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID, 86.965);
 
 
   void configureDriveMotors() {
@@ -103,29 +108,29 @@ public class RobotMap {
     rightBackSteer.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
 
     // config neutral deadband
-    // leftFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
-    // leftFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
 
-    // rightFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightFrontWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
-    // rightFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightFrontSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
 
-    // leftBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
-    // leftBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    leftBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
 
-    // rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightBackWheel.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
-    // rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
+    rightBackSteer.configNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND, SwerveDriveConstants.TIMEOUT_MS);
 
     // config magnet offset
-    leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
+    // leftFrontEncoder.configMagnetOffset(90.0); //180.0); //270);//271.58203125);//SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
-    rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
+    // rightFrontEncoder.configMagnetOffset(0.0); //180.0); //270);//271.58203125);//SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
-    leftBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
+    // leftBackEncoder.configMagnetOffset(23.99414); //0.0); //90.0);//92.98828125);//SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
-    rightBackEncoder.configMagnetOffset(SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
+    // rightBackEncoder.configMagnetOffset(225.0); //180.0); //270.0);//267.01171875);//SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
 
     // initialize SwerveModules
-    this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
+    this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -180.0);//, 270);//, SwerveDriveConstants.Configurations.LEFT_FRONT_ENCODER_OFFSET);
-    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
+    this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -267.0);//, 90);//, SwerveDriveConstants.Configurations.RIGHT_FRONT_ENCODER_OFFSET);
-    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
+    this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -245.0);//, 90);//, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
-    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
+    this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -42.0);//, 273);//, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
 
   }
 }

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -5,6 +5,7 @@
 package frc4388.robot.subsystems;
 
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
@@ -12,7 +13,9 @@ import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.OIConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.RobotGyro;
 
@@ -55,26 +58,43 @@ public class SwerveDrive extends SubsystemBase {
     this.rightBack = rightBack;
 
     this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
-
-    for (SwerveModule m : this.modules) {
-      m.reset();
-    }
-
-    // this.gyro = gyro;
   }
 
   public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    double xSpeedMetersPerSecond = xSpeed * this.speedAdjust; //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
+    
-    double ySpeedMetersPerSecond = ySpeed * this.speedAdjust; //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
+    Translation2d speed = new Translation2d(-xSpeed, ySpeed);
-
+    double mag = speed.getNorm();
+    speed = speed.times(mag * speedAdjust);
+    
+    double xSpeedMetersPerSecond = -speed.getX(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
+    double ySpeedMetersPerSecond = speed.getY(); //SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
     // SwerveModuleState[] states = kinematics.toSwerveModuleStates(
     //   fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d()) 
     //                 : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot)
     //);
 
-    SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot));
+    SwerveModuleState[] states = kinematics.toSwerveModuleStates(new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
 
-    SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
+    setModuleStates(states);
+  }
+
+  public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
+    // ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
+    Translation2d speed = new Translation2d(-leftX, leftY);
+    speed = speed.times(speed.getNorm() * speedAdjust);
+    // if (Math.abs(rightX) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND || Math.abs(rightY) > SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
+    //   rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
+    // double rot = rotTarget.minus(gyro.getRotation2d()).getRadians();
+    double xSpeedMetersPerSecond = -speed.getX();
+    double ySpeedMetersPerSecond = speed.getY();
+    // chassisSpeeds = fieldRelative
+    //     ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
+    //         rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
+    //     : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
+
+    ChassisSpeeds chassisSpeeds = new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
+    
+    SwerveModuleState[] states = kinematics.toSwerveModuleStates(chassisSpeeds);
     setModuleStates(states);
   }
 
@@ -83,6 +103,7 @@ public class SwerveDrive extends SubsystemBase {
    * @param desiredStates Array of module states to set.
    */
   public void setModuleStates(SwerveModuleState[] desiredStates) {
+    SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
     for (int i = 0; i < desiredStates.length; i++) {
       SwerveModule module = modules[i];
       SwerveModuleState state = desiredStates[i];
@@ -161,10 +182,26 @@ public class SwerveDrive extends SubsystemBase {
     this.rightBack.angleMotor.set(output);
   }
 
+  public void rotateCANCodersToAngle(double angle) {
+    for (SwerveModule module : this.modules) {
+      module.rotateToAngle(angle);
+    }
+  }
+
+  public void resetCANCoders(double position) {
+    for (SwerveModule module : this.modules) {
+      module.reset(position);
+    }
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
     // updateOdometry();
+    SmartDashboard.putNumber("LeftFront CC", this.modules[0].getAngle().getDegrees());
+    SmartDashboard.putNumber("RightFront CC", this.modules[1].getAngle().getDegrees());
+    SmartDashboard.putNumber("LeftBack CC", this.modules[2].getAngle().getDegrees());
+    SmartDashboard.putNumber("RightBack CC", this.modules[3].getAngle().getDegrees());
   }
 
   /**

src/main/java/frc4388/robot/subsystems/SwerveModule.java

@@ -19,19 +19,21 @@ import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.utility.Gains;
+import frc4388.utility.RobotEncoder;
 
 public class SwerveModule extends SubsystemBase {
     public WPI_TalonFX driveMotor;
     public WPI_TalonFX angleMotor;
-    private CANCoder canCoder;
+    // private CANCoder canCoder;
+    private CANCoder encoder;
 
     public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
   
     /** Creates a new SwerveModule. */
-    public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
+    public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, /*CANCoder canCoder*/CANCoder encoder, double offset) {
         this.driveMotor = driveMotor;
         this.angleMotor = angleMotor;
-        this.canCoder = canCoder;
+        this.encoder = encoder;
 
         TalonFXConfiguration angleConfig = new TalonFXConfiguration();
         angleConfig.slot0.kP = swerveGains.kP;
@@ -39,14 +41,16 @@ public class SwerveModule extends SubsystemBase {
         angleConfig.slot0.kD = swerveGains.kD;
 
         // use the CANcoder as the remote sensor for the primary TalonFX PID
-        angleConfig.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
+        angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
         angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
         angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
         angleMotor.configAllSettings(angleConfig);
 
         CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
         canCoderConfig.magnetOffsetDegrees = offset;
-        canCoder.configAllSettings(canCoderConfig);
+        encoder.configAllSettings(canCoderConfig);
+
+        // canCoderConfig.magnetOffsetDegrees = 270;
     }
 
     /**
@@ -70,7 +74,7 @@ public class SwerveModule extends SubsystemBase {
      * @return the CANcoder of the SwerveModule
      */
     public CANCoder getEncoder() {
-        return this.canCoder;
+        return this.encoder;
     }
 
     /**
@@ -79,7 +83,7 @@ public class SwerveModule extends SubsystemBase {
      */
     public Rotation2d getAngle() {
         // Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
-        return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
+        return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
     }
 
     public void stop() {
@@ -126,15 +130,17 @@ public class SwerveModule extends SubsystemBase {
         double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
 
         // convert the CANCoder from its position reading to ticks
-        double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
+        double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
         angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
 
         double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
-        driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
+        driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
     }
 
-    public void reset() {
+    public void reset(double position) {
-        canCoder.setPositionToAbsolute();
+        // encoder.setPosition(position);
+        encoder.setPositionToAbsolute();
+        // canCoder.setPosition(1024);
     }
 
     public double getCurrent() {

src/main/java/frc4388/utility/RobotEncoder.java

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+import com.ctre.phoenix.sensors.CANCoder;
+
+/** Add your docs here. */
+public class RobotEncoder extends CANCoder {
+    private double offset;
+
+    public RobotEncoder(int id, double offset) {
+        super(id);
+
+        this.offset = offset;
+    }
+
+    @Override
+    public double getAbsolutePosition() {
+        return super.getAbsolutePosition() - this.offset;
+    }
+}