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Swerve Drive works! (Im tweakin)

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Abhishrek05
2024-01-17 19:34:02 -07:00
parent a874e485b0
commit e1dfb70924
4 changed files with 60 additions and 12 deletions
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src/main/java/frc4388/robot/Constants.java
+8 -1
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@@ -35,6 +35,13 @@ public final class Constants {
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 130.957 + 90;
public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 90;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = 347.871 + 90;
public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90;
}
public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
@@ -56,7 +63,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0, 0.0, 0, 1.0);
}
public static final class AutoConstants {