From 69d97e2eb9f3c35d0f332e3e75efa8340d486f55 Mon Sep 17 00:00:00 2001 From: Michael Mikovsky <77305074+Astatin3@users.noreply.github.com> Date: Tue, 12 Nov 2024 17:36:55 -0700 Subject: [PATCH] add swerve offsets --- src/main/java/frc4388/robot/Constants.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a0995a8..24e4ab0 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -34,17 +34,17 @@ public final class Constants { public static final double CORRECTION_MIN = 10; public static final double CORRECTION_MAX = 50; - public static final double[] GEARS = {0.25, 0.5, 1.0}; + public static final double[] GEARS = {0.05, 0.25, 0.5, 1.0}; public static final double SLOW_SPEED = 0.25; public static final double FAST_SPEED = 0.5; 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 = -0.362548828125 - 0.25; //TODO: per robot swerve module offsets. + public static final double FRONT_RIGHT_ROT_OFFSET = -0.138916015625 - 0.25; //TODO: per robot swerve module offsets. + public static final double BACK_LEFT_ROT_OFFSET = 0.024169921875 - 0.25; //TODO: per robot swerve module offsets. + public static final double BACK_RIGHT_ROT_OFFSET = -0.1435546875 - 0.25; //TODO: per robot swerve module offsets. } public static final class IDs {