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/subsystems/SwerveModule.java
+4 -3
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@@ -31,7 +31,7 @@ public class SwerveModule extends SubsystemBase {
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
/** Creates a new SwerveModule. */
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder) {//, double offset) {
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder encoder, double offset) {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
@@ -47,9 +47,10 @@ public class SwerveModule extends SubsystemBase {
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleConfig);
CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
// CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
// canCoderConfig.magnetOffsetDegrees = offset;
encoder.configAllSettings(canCoderConfig);
// encoder.configAllSettings(canCoderConfig);
encoder.configMagnetOffset(offset);
// driveMotor.config_kP(0, 0.4);