Team4388/2023WayOfTheRobot
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offsets (INCOMPLETE DO NOT TOUCH)

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aarav18
2023-01-21 15:16:22 -07:00
parent bf4088d9db
commit b24bc6c6ab
6 changed files with 149 additions and 55 deletions
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src/main/java/frc4388/robot/Constants.java
+17 -8
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@@ -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 RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.1265 - 180 - 90) % 360.; // TODO: find the actual value
// public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.4834 - 90) % 360.; // TODO: find the actual value
// public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.3156 - 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.; // * 2022 SwerveDrive values
// 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.; // * 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