Team4388/2023WayOfTheRobot
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cancoder offsets

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This commit is contained in:
aarav18
2023-02-02 19:10:08 -07:00
parent 1e812f706b
commit 6666e4a068
7 changed files with 197 additions and 11 deletions
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src/main/java/frc4388/robot/RobotMap.java
+4 -7
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@@ -127,14 +127,11 @@ public class RobotMap {
// 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);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder);
this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, -181.230469);
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, -270.615234);
this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, -240.029297);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -40.869142);
// FINAL OFFSETS (I THINK)
// LEFT FRONT: -181.230469
// RIGHT FRONT: -270.615234
// LEFT BACK: -240.029297