Team4388/2024AcrossTheRidgebotiverse
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phoenix 6 pain

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This commit is contained in:
Abhishrek05
2024-04-04 17:32:22 -06:00
parent 196033fbe1
commit cc7baea353
2 changed files with 15 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+14 -7
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@@ -9,12 +9,13 @@ import javax.swing.text.StyleContext.SmallAttributeSet;
import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.SensorInitializationStrategy;
// import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
// import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
// import com.ctre.phoenix.sensors.CANCoder;
// import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
@@ -29,7 +30,7 @@ import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
public class SwerveModule extends SubsystemBase {
private WPI_TalonFX tal;
// private WPI_TalonFX tal;
private TalonFX driveMotor;
private TalonFX angleMotor;
private CANcoder encoder;
@@ -46,7 +47,13 @@ public class SwerveModule extends SubsystemBase {
// this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
this.selfid = swerveId;
swerveId++;
TalonFXConfiguration angleConfig = new TalonFXConfiguration();
// TalonFXConfiguration angleConfig = new TalonFXConfiguration();
TalonFXConfiguration cfg = new TalonFXConfiguration()
.withSlot0(new Slot0Configs()
.withKP(swerveGains.kP)
.withKI(swerveGains.kI)
.withKD(swerveGains.kD)
)
angleConfig.slot0.kP = swerveGains.kP;
angleConfig.slot0.kI = swerveGains.kI;
angleConfig.slot0.kD = swerveGains.kD;