From 516c33b180feb6b6b5f1d7f2ccee28822fc7822d Mon Sep 17 00:00:00 2001 From: C4llSiqn Date: Tue, 3 Dec 2024 09:24:00 -0700 Subject: [PATCH] patch: include 2024's swervedrive rot offsets --- src/main/java/frc4388/robot/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a0995a8..75648ee 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -41,10 +41,10 @@ public final class Constants { public static final double TURBO_SPEED = 1.0; public static final class DefaultSwerveRotOffsets { - public static final double FRONT_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. - public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. - public static final double BACK_LEFT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. - public static final double BACK_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets. + public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 + 0.5; //TODO: per robot swerve module offsets. + public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 + 0.5; //TODO: per robot swerve module offsets. + public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875 + 0.5; //TODO: per robot swerve module offsets. + public static final double BACK_RIGHT_ROT_OFFSET = 0.60595703125 + 0.5; //TODO: per robot swerve module offsets. } public static final class IDs {