Team4388/2025RidgeScape
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i love using phonix 6 sweve drivetrain

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This commit is contained in:
C4llSiqn
2025-01-06 14:51:44 -07:00
parent 5348cafeea
commit 631958e662
2 changed files with 31 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+18 -2
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@@ -10,6 +10,11 @@ package frc4388.robot;
import java.util.ArrayList;
import java.util.List;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ParentConfiguration;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.CanDevice;
import frc4388.utility.Gains;
@@ -43,7 +48,7 @@ public final class Constants {
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 List<CanDevice> CAN_DEVICES = new ArrayList<>();
public static final class DefaultSwerveRotOffsets {
@@ -127,7 +132,18 @@ public final class Constants {
public static final double HEIGHT = 18.5;
public static final double HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
public static final SwerveModuleConstants<ParentConfiguration, ParentConfiguration, ParentConfiguration> FRONT_LEFT = new SwerveModuleConstants<>()
.withLocationX(HALF_WIDTH)
.withLocationX(HALF_HEIGHT)
.withDriveMotorId(2)
.withDriveMotorInverted(false)
.withSteerMotorId(3)
.withSteerMotorInverted(false)
.withEncoderId(10)
.withEncoderInverted(false)
.withEncoderOffset(0.0);
// misc
public static final int TIMEOUT_MS = 30;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;