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/subsystems/SwerveModule.java
+8 -2
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@@ -16,6 +16,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
@@ -30,7 +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 canCoder*/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 +48,11 @@ public class SwerveModule extends SubsystemBase {
angleMotor.configAllSettings(angleConfig);
CANCoderConfiguration canCoderConfig = new CANCoderConfiguration();
canCoderConfig.magnetOffsetDegrees = offset;
// canCoderConfig.magnetOffsetDegrees = offset;
encoder.configAllSettings(canCoderConfig);
// driveMotor.config_kP(0, 0.4);
// canCoderConfig.magnetOffsetDegrees = 270;
}
@@ -134,7 +137,10 @@ public class SwerveModule extends SubsystemBase {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
double inchesPerSecond = Units.metersToInches(state.speedMetersPerSecond);
driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
// driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
}
public void reset(double position) {