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Merge pull request #28 from Team4388/2025-drive-calibration

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2025 drive calibration
This commit is contained in:
C4llSqin
2025-02-15 13:22:35 -07:00
committed by GitHub
parent 5ff0573a5c aebf58a36f
commit 99a61738e2
2 changed files with 14 additions and 13 deletions
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src/main/java/frc4388/robot/Constants.java
+13 -13
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@@ -106,46 +106,46 @@ public final class Constants {
public static final boolean DRIFT_CORRECTION_ENABLED = true;
public static final boolean INVERT_X = false;
public static final boolean INVERT_Y = true;
public static final boolean INVERT_Y = false;
public static final boolean INVERT_ROTATION = false;
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
/* private static final class ModuleSpecificConstants { //2025
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.4794921875+0.25);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
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_XPOS = Inches.of(HALF_WIDTH);
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.371337890625+.5+.25);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.62841796875-0.25);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = false;
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_YPOS = Inches.of(-HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.3828125+.25+.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(-0.867431640625+0.25);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
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_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(-0.01904296875+.25);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.425537109375-0.25+0.25);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
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_XPOS = Inches.of(-HALF_WIDTH);
private static final Distance BACK_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
} */
}
private static final class ModuleSpecificConstants { // 2024
/* private static final class ModuleSpecificConstants { // 2024
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
@@ -177,7 +177,7 @@ public final class Constants {
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);
}
} */
public static final class IDs {
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -169,6 +169,7 @@ public class RobotContainer {
// drives the robot with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
// m_robotSwerveDrive.driveWithInput(new Translation2d(.4, 0),
getDeadbandedDriverController().getRight(),
true);
}, m_robotSwerveDrive)