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fix 2025 module possitions

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C4llSiqn
2025-01-16 19:41:08 -07:00
parent a8bfc1543f
commit 1bd3c12327
4 changed files with 37 additions and 30 deletions
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src/main/java/frc4388/robot/Constants.java
+17 -17
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@@ -99,41 +99,41 @@ public final class Constants {
public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_HEIGHT);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_WIDTH);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
private static final Distance FRONT_RIGHT_XPOS = Inches.of(HALF_HEIGHT);
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_WIDTH);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.5);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_HEIGHT);
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_WIDTH);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.07666015625);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
private static final Distance BACK_RIGHT_XPOS = Inches.of(-HALF_HEIGHT);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_WIDTH);
}
public static final class IDs {