Team4388/2024AcrossTheRidgebotiverse
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denver comp (im tweakin)

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Abhishrek05
2024-03-21 09:01:42 -06:00
parent 037d2172d7
commit 6b0e4b9cad
7 changed files with 388 additions and 296 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+2 -2
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@@ -30,7 +30,7 @@ public class SwerveModule extends SubsystemBase {
private WPI_TalonFX angleMotor;
private CANCoder encoder;
private int selfid;
private ConfigurableDouble offsetGetter;
// private ConfigurableDouble offsetGetter;
private static int swerveId = 0;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -39,7 +39,7 @@ public class SwerveModule extends SubsystemBase {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
// this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
this.selfid = swerveId;
swerveId++;
TalonFXConfiguration angleConfig = new TalonFXConfiguration();