mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-08 16:28:04 -06:00
functional constants, may need revision. sweve drivetrain in robot map
This commit is contained in:
C4llSiqn
@@ -11,9 +11,13 @@ import static edu.wpi.first.units.Units.Inches;
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import static edu.wpi.first.units.Units.Rotations;
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import com.ctre.phoenix6.configs.CANcoderConfiguration;
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import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
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import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
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import com.ctre.phoenix6.configs.MotorOutputConfigs;
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import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
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import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
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import com.ctre.phoenix6.swerve.SwerveModuleConstants;
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@@ -53,25 +57,36 @@ public final class Constants {
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public static final double CORRECTION_MIN = 10;
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public static final double CORRECTION_MAX = 50;
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public static final double[] GEARS = {0.25, 0.5, 1.0};
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public static final double SLOW_SPEED = 0.25;
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public static final double FAST_SPEED = 0.5;
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public static final double TURBO_SPEED = 1.0;
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public static final double[] GEARS = {SLOW_SPEED, FAST_SPEED, TURBO_SPEED};
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// dimensions
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public static final double WIDTH = 18.5;
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public static final double HEIGHT = 18.5;
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public static final double WIDTH = 18.5; // TODO: validate
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public static final double HEIGHT = 18.5; // TODO: validate
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public static final double HALF_WIDTH = WIDTH / 2.d;
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public static final double HALF_HEIGHT = HEIGHT / 2.d;
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// Mechanics
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private static final double COUPLE_RATIO = 1; //todo: find
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private static final double DRIVE_RATIO = 6.12;
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private static final double STEER_RATIO = (150/7);
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private static final Distance WHEEL_RADIUS = Inches.of(2);
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public static final double MAX_SPEED_MEETERS_PER_SEC = 6.22; // TODO: Validate
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public static final double MAX_SPEED_FEET_PER_SECOND = MAX_SPEED_MEETERS_PER_SEC * 3.28084;
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public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
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private static final class ModuleSpecificConstants {
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//Front Left
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private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.0);
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private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
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private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = false;
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private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
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private static final Distance FRONT_LEFT_XPOS = Inches.of(HALF_WIDTH);
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private static final Distance FRONT_LEFT_XPOS = Inches.of(-HALF_WIDTH);
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private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
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//Front Right
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@@ -87,8 +102,8 @@ public final class Constants {
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private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
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private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = false;
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private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
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private static final Distance BACK_LEFT_XPOS = Inches.of(HALF_WIDTH);
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private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
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private static final Distance BACK_LEFT_XPOS = Inches.of(-HALF_WIDTH);
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private static final Distance BACK_LEFT_YPOS = Inches.of(-HALF_HEIGHT);
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//Back Right
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private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.0);
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@@ -96,11 +111,7 @@ public final class Constants {
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private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = false;
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private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
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private static final Distance BACK_RIGHT_XPOS = Inches.of(HALF_WIDTH);
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private static final Distance BACK_RIGHT_YPOS = Inches.of(HALF_HEIGHT);
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}
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private static final class DrivetrainSpecificConstants {
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private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
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}
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public static final class IDs {
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@@ -129,8 +140,23 @@ public final class Constants {
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(50, 0.0, 0.32, 0.0, 0, 0.0);
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public static final Slot0Configs CURRENT_SWERVE_ROT_GAINS = new Slot0Configs()
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.withKP(50).withKI(0).withKD(0.32)
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.withKS(0).withKV(0).withKA(0);
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public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
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// The steer motor uses any SwerveModule.SteerRequestType control request with the
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// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
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private static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
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.withKP(100).withKI(0).withKD(0.5)
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.withKS(0.1).withKV(1.91).withKA(0)
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.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
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// When using closed-loop control, the drive motor uses the control
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// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
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private static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
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.withKP(0.1).withKI(0).withKD(0)
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.withKS(0).withKV(0.124);
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}
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public static final class AutoConstants {
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@@ -164,166 +190,94 @@ public final class Constants {
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}
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public static final class Configurations {
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public static final double OPEN_LOOP_RAMP_RATE = 0.2;
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public static final double CLOSED_LOOP_RAMP_RATE = 0.2;
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public static final double OPEN_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
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public static final double CLOSED_LOOP_RAMP_RATE = 0.4; // Todo: Test. think this will help.
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public static final double NEUTRAL_DEADBAND = 0.04;
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// POWER! (limiting)
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private static final TalonFXConfiguration DRIVE_MOTOR_CONFIGS = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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.withStatorCurrentLimit(100) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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).withMotorOutput(
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new MotorOutputConfigs()
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.withNeutralMode(NeutralModeValue.Brake)
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.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
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).withOpenLoopRamps(
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new OpenLoopRampsConfigs()
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.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
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).withClosedLoopRamps(
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new ClosedLoopRampsConfigs()
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.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
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);
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private static final TalonFXConfiguration STEER_MOTOR_CONFIGS = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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.withStatorCurrentLimit(40) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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).withMotorOutput(
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new MotorOutputConfigs()
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.withNeutralMode(NeutralModeValue.Brake)
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.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
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).withOpenLoopRamps(
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new OpenLoopRampsConfigs()
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.withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE)
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).withClosedLoopRamps(
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new ClosedLoopRampsConfigs()
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.withDutyCycleClosedLoopRampPeriod(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE)
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);
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private static final double SLIP_CURRENT = 120; // TODO: Tune???
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}
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public static final double MAX_SPEED_FEET_PER_SECOND = 20.4;
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public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI;
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// No mans land
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// Beware, there be dragons.
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// The steer motor uses any SwerveModule.SteerRequestType control request with the
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// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
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private static final Slot0Configs steerGains = new Slot0Configs()
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.withKP(100).withKI(0).withKD(0.5)
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.withKS(0.1).withKV(1.91).withKA(0)
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.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
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// When using closed-loop control, the drive motor uses the control
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// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
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private static final Slot0Configs driveGains = new Slot0Configs()
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.withKP(0.1).withKI(0).withKD(0)
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.withKS(0).withKV(0.124);
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// The closed-loop output type to use for the steer motors;
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// This affects the PID/FF gains for the steer motors
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private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The closed-loop output type to use for the drive motors;
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// This affects the PID/FF gains for the drive motors
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private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
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// The type of motor used for the drive motor
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private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
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// The type of motor used for the drive motor
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private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
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// The remote sensor feedback type to use for the steer motors;
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// When not Pro-licensed, FusedCANcoder/SyncCANcoder automatically fall back to RemoteCANcoder
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private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.RemoteCANcoder;
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// The stator current at which the wheels start to slip;
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// This needs to be tuned to your individual robot
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private static final double kSlipCurrent = 120; // TODO: tune???
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// Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
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// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
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private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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// Swerve azimuth does not require much torque output, so we can set a relatively low
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// stator current limit to help avoid brownouts without impacting performance.
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.withStatorCurrentLimit(100) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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);
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private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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// Swerve azimuth does not require much torque output, so we can set a relatively low
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// stator current limit to help avoid brownouts without impacting performance.
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.withStatorCurrentLimit(40) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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);
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private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
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// Theoretical free speed (m/s) at 12 V applied output;
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// This needs to be tuned to your individual robot
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public static final double kSpeedAt12Volts = 4.69;// todo: tune???
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// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
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// This may need to be tuned to your individual robot
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private static final double kCoupleRatio = 3.8181818181818183; //todo: find
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private static final double kDriveGearRatio = 6.12;
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private static final double kSteerGearRatio = (150/7);
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private static final Distance kWheelRadius = Inches.of(2); // 2 inches in meters
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public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
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.withPigeon2Id(IDs.DRIVE_PIGEON.id);
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private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
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new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.
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.withDriveMotorGearRatio(kDriveGearRatio)
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.withSteerMotorGearRatio(kSteerGearRatio)
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.withCouplingGearRatio(kCoupleRatio)
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.withWheelRadius(kWheelRadius)
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.withSteerMotorGains(steerGains)
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.withDriveMotorGains(driveGains)
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.withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
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.withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
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.withSlipCurrent(kSlipCurrent)
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.withSpeedAt12Volts(kSpeedAt12Volts)
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.withDriveMotorType(kDriveMotorType)
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.withSteerMotorType(kSteerMotorType)
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.withFeedbackSource(kSteerFeedbackType)
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.withDriveMotorInitialConfigs(driveInitialConfigs)
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.withSteerMotorInitialConfigs(steerInitialConfigs)
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.withEncoderInitialConfigs(encoderInitialConfigs);
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.withDriveMotorGearRatio(DRIVE_RATIO)
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.withSteerMotorGearRatio(STEER_RATIO)
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.withCouplingGearRatio(COUPLE_RATIO)
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.withWheelRadius(WHEEL_RADIUS)
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.withSteerMotorGains(PIDConstants.CURRENT_SWERVE_ROT_GAINS) // ?
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.withDriveMotorGains(PIDConstants.PREPROVIDED_DRIVE_GAINS) // ?
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.withSteerMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
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.withDriveMotorClosedLoopOutput(ClosedLoopOutputType.Voltage)
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.withSlipCurrent(Configurations.SLIP_CURRENT)
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.withSpeedAt12Volts(MAX_SPEED_MEETERS_PER_SEC)
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.withDriveMotorType(DriveMotorArrangement.TalonFX_Integrated)
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.withSteerMotorType(SteerMotorArrangement.TalonFX_Integrated)
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.withFeedbackSource(SteerFeedbackType.RemoteCANcoder)
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.withDriveMotorInitialConfigs(Configurations.DRIVE_MOTOR_CONFIGS)
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.withSteerMotorInitialConfigs(Configurations.STEER_MOTOR_CONFIGS);
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// Front Left
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private static final int kFrontLeftDriveMotorId = 3;
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private static final int kFrontLeftSteerMotorId = 2;
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private static final int kFrontLeftEncoderId = 10;
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private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.15234375);
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private static final boolean kFrontLeftSteerMotorInverted = true;
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private static final boolean kFrontLeftEncoderInverted = false;
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private static final Distance kFrontLeftXPos = Inches.of(10);
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private static final Distance kFrontLeftYPos = Inches.of(10);
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// Front Right
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private static final int kFrontRightDriveMotorId = 1;
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private static final int kFrontRightSteerMotorId = 0;
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private static final int kFrontRightEncoderId = 0;
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private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.4873046875);
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private static final boolean kFrontRightSteerMotorInverted = true;
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private static final boolean kFrontRightEncoderInverted = false;
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private static final Distance kFrontRightXPos = Inches.of(10);
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private static final Distance kFrontRightYPos = Inches.of(-10);
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// Back Left
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private static final int kBackLeftDriveMotorId = 7;
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private static final int kBackLeftSteerMotorId = 6;
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private static final int kBackLeftEncoderId = 3;
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private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.219482421875);
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private static final boolean kBackLeftSteerMotorInverted = true;
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private static final boolean kBackLeftEncoderInverted = false;
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private static final Distance kBackLeftXPos = Inches.of(-10);
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private static final Distance kBackLeftYPos = Inches.of(10);
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// Back Right
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private static final int kBackRightDriveMotorId = 5;
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private static final int kBackRightSteerMotorId = 4;
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private static final int kBackRightEncoderId = 2;
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private static final Angle kBackRightEncoderOffset = Rotations.of(0.17236328125);
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private static final boolean kBackRightSteerMotorInverted = true;
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private static final boolean kBackRightEncoderInverted = false;
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private static final Distance kBackRightXPos = Inches.of(-10);
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private static final Distance kBackRightYPos = Inches.of(-10);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_LEFT =
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ConstantCreator.createModuleConstants(
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kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, Rotations.of(SwerveRotOffsets.FRONT_LEFT_ROT_OFFSET),
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Inches.of(HALF_WIDTH), Inches.of(HALF_HEIGHT), false, false, false
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
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IDs.LEFT_FRONT_STEER.id, IDs.LEFT_FRONT_WHEEL.id, IDs.LEFT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_LEFT_ENCODER_OFFSET,
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ModuleSpecificConstants.FRONT_LEFT_XPOS, ModuleSpecificConstants.FRONT_LEFT_YPOS,
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ModuleSpecificConstants.FRONT_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_LEFT_ENCODER_INVERTED
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FRONT_RIGHT =
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ConstantCreator.createModuleConstants(
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kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
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kFrontRightXPos, kFrontRightYPos, false, false, false
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
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IDs.RIGHT_FRONT_STEER.id, IDs.RIGHT_FRONT_WHEEL.id, IDs.RIGHT_FRONT_ENCODER.id, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_OFFSET,
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ModuleSpecificConstants.FRONT_RIGHT_XPOS, ModuleSpecificConstants.FRONT_RIGHT_YPOS,
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ModuleSpecificConstants.FRONT_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.FRONT_RIGHT_ENCODER_INVERTED
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_LEFT =
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ConstantCreator.createModuleConstants(
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kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
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kBackLeftXPos, kBackLeftYPos, false, false, false
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
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IDs.LEFT_BACK_STEER.id, IDs.LEFT_BACK_WHEEL.id, IDs.LEFT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_LEFT_ENCODER_OFFSET,
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ModuleSpecificConstants.BACK_LEFT_XPOS, ModuleSpecificConstants.BACK_LEFT_YPOS,
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ModuleSpecificConstants.BACK_LEFT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_LEFT_ENCODER_INVERTED
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);
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public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BACK_RIGHT =
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ConstantCreator.createModuleConstants(
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IDs.RIGHT_BACK_STEER.id, IDs.RIGHT_BACK_WHEEL.id, IDs.RIGHT_BACK_ENCODER.id, ModuleSpecificConstants.BACK_RIGHT_ENCODER_OFFSET,
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ModuleSpecificConstants.BACK_RIGHT_XPOS, ModuleSpecificConstants.BACK_RIGHT_YPOS,
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ModuleSpecificConstants.BACK_RIGHT_DRIVE_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_STEER_MOTOR_INVERTED, ModuleSpecificConstants.BACK_RIGHT_ENCODER_INVERTED
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);
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// misc
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||||
public static final int TIMEOUT_MS = 30;
|
||||
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
|
||||
|
||||
@@ -29,48 +29,20 @@ public class RobotMap {
|
||||
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
|
||||
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule rightFront;
|
||||
public SwerveModule leftBack;
|
||||
public SwerveModule rightBack;
|
||||
|
||||
public RobotMap() {
|
||||
configureDriveMotorControllers();
|
||||
}
|
||||
|
||||
/* LED Subsystem */
|
||||
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||
|
||||
public final SwerveDrivetrain swerveDrivetrain = new SwerveDrivetrain(
|
||||
TalonFX::new, TalonFX::new, CANcoder::new,
|
||||
new SwerveDrivetrainConstants().withPigeon2Id(SwerveDriveConstants.IDs.DRIVE_PIGEON.id),
|
||||
new SwerveModuleConstants[] {
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
/* Swreve Drive Subsystem */
|
||||
public final TalonFX leftFrontWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_WHEEL.id);
|
||||
public final TalonFX leftFrontSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER.id);
|
||||
public final CANcoder leftFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER.id);
|
||||
public final SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrain = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
|
||||
Constants.SwerveDriveConstants.DrivetrainConstants,
|
||||
Constants.SwerveDriveConstants.FRONT_LEFT, Constants.SwerveDriveConstants.FRONT_RIGHT,
|
||||
Constants.SwerveDriveConstants.BACK_LEFT, Constants.SwerveDriveConstants.BACK_RIGHT
|
||||
);
|
||||
|
||||
|
||||
public final TalonFX rightFrontWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL.id);
|
||||
public final TalonFX rightFrontSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER.id);
|
||||
public final CANcoder rightFrontEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER.id);
|
||||
|
||||
public final TalonFX leftBackWheel = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_WHEEL.id);
|
||||
public final TalonFX leftBackSteer = new TalonFX(SwerveDriveConstants.IDs.LEFT_BACK_STEER.id);
|
||||
public final CANcoder leftBackEncoder = new CANcoder(SwerveDriveConstants.IDs.LEFT_BACK_ENCODER.id);
|
||||
|
||||
public final TalonFX rightBackWheel = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_WHEEL.id);
|
||||
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER.id);
|
||||
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER.id);
|
||||
|
||||
void configureDriveMotorControllers() {
|
||||
// initialize SwerveModules
|
||||
this.rightFront = new SwerveModule("Right Front Swerve Module", rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
this.leftFront = new SwerveModule("Left Front Swerve Module", leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
this.leftBack = new SwerveModule("Left Back Swerve Module", leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||
this.rightBack = new SwerveModule("Right Back Swerve Module", rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||
}
|
||||
void configureDriveMotorControllers() {}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user