Team4388/2023WayOfTheRobot
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FINAL OFFSETS ARE IN CODE

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aarav18
2023-01-31 19:24:12 -07:00
parent 2376d2636f
commit e6b2d2f486
5 changed files with 42 additions and 16 deletions
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src/main/java/frc4388/robot/RobotMap.java
+10 -4
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@@ -127,10 +127,16 @@ 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, -180.0);//, 270);//, SwerveDriveConstants.Configurations.LEFT_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, -245.0);//, 90);//, SwerveDriveConstants.Configurations.LEFT_BACK_ENCODER_OFFSET);
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, -42.0);//, 273);//, SwerveDriveConstants.Configurations.RIGHT_BACK_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);//, -267.0);//, 90);//, SwerveDriveConstants.Configurations.RIGHT_FRONT_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);//, -42.0);//, 273);//, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
// FINAL OFFSETS (I THINK)
// LEFT FRONT: -181.230469
// RIGHT FRONT: -270.615234
// LEFT BACK: -240.029297
// RIGHT BACK: -40.869142
}
}