Team4388/2023WayOfTheRobot
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swerve shtuff

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This commit is contained in:
aarav18
2023-01-20 21:04:58 -07:00
parent 6b631e914d
commit bf4088d9db
6 changed files with 150 additions and 115 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -3
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@@ -21,8 +21,8 @@ import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
public class SwerveModule extends SubsystemBase {
private WPI_TalonFX driveMotor;
private WPI_TalonFX angleMotor;
public WPI_TalonFX driveMotor;
public WPI_TalonFX angleMotor;
private CANCoder canCoder;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -78,7 +78,7 @@ public class SwerveModule extends SubsystemBase {
* @return the angle of a SwerveModule as a Rotation2d
*/
public Rotation2d getAngle() {
// Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
// Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
}