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add swerve offsets

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This commit is contained in:
Michael Mikovsky
2024-11-12 17:36:55 -07:00
parent 39c11879f9
commit 69d97e2eb9
1 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
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@@ -34,17 +34,17 @@ public final class Constants {
public static final double CORRECTION_MIN = 10; public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50; 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 SLOW_SPEED = 0.25;
public static final double FAST_SPEED = 0.5; public static final double FAST_SPEED = 0.5;
public static final double TURBO_SPEED = 1.0; public static final double TURBO_SPEED = 1.0;
public static final class DefaultSwerveRotOffsets { 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_LEFT_ROT_OFFSET = -0.362548828125 - 0.25; //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 FRONT_RIGHT_ROT_OFFSET = -0.138916015625 - 0.25; //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_LEFT_ROT_OFFSET = 0.024169921875 - 0.25; //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 BACK_RIGHT_ROT_OFFSET = -0.1435546875 - 0.25; //TODO: per robot swerve module offsets.
} }
public static final class IDs { public static final class IDs {