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Make swerve drive work. Some stuff on drift correction

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This commit is contained in:
Michael Mikovsky
2024-07-25 11:41:41 -06:00
parent eb232fbe81
commit c08506dd5e
6 changed files with 103 additions and 56 deletions
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src/main/java/frc4388/robot/Constants.java
+16 -16
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@@ -40,28 +40,28 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 220;
public static final double FRONT_RIGHT_ROT_OFFSET = 136.365;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -279.08349884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.8887656;
public static final double FRONT_LEFT_ROT_OFFSET = -0.130126953125 + 0.25 + 0.25;
public static final double FRONT_RIGHT_ROT_OFFSET = 0.364990234375 + 0.25;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -0.4775390625 + 0.25;
public static final double BACK_RIGHT_ROT_OFFSET = 0.356201171875 + 0.25;
}
public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 3;
public static final int RIGHT_FRONT_STEER_ID = 2;
public static final int RIGHT_FRONT_ENCODER_ID = 12;
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
public static final int RIGHT_FRONT_ENCODER_ID = 10;
// public static final int LEFT_FRONT_WHEEL_ID = 4;
// public static final int LEFT_FRONT_STEER_ID = 5;
// public static final int LEFT_FRONT_ENCODER_ID = 11;
public static final int LEFT_FRONT_WHEEL_ID = 4;
public static final int LEFT_FRONT_STEER_ID = 5;
public static final int LEFT_FRONT_ENCODER_ID = 11;
// public static final int LEFT_BACK_WHEEL_ID = 6;
// public static final int LEFT_BACK_STEER_ID = 7;
// public static final int LEFT_BACK_ENCODER_ID = 12;
public static final int LEFT_BACK_WHEEL_ID = 6;
public static final int LEFT_BACK_STEER_ID = 7;
public static final int LEFT_BACK_ENCODER_ID = 12;
// public static final int RIGHT_BACK_WHEEL_ID = 8;
// public static final int RIGHT_BACK_STEER_ID = 9;
// public static final int RIGHT_BACK_ENCODER_ID = 13;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_STEER_ID = 9;
public static final int RIGHT_BACK_ENCODER_ID = 13;
}
public static final class PIDConstants {