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Calibrate 2025 swerve drive

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This commit is contained in:
C4llSiqn
2025-01-11 11:06:52 -07:00
parent 34efb5698e
commit b6850a11a7
3 changed files with 18 additions and 18 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -15
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@@ -80,50 +80,50 @@ 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 = 90; // 0, 90, 180, 270
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
private static final class ModuleSpecificConstants {
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.36328125);
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 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(0.133056640625);
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 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(0.47705078125 + 0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.35205078125+.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(-0.355224609375 + 0.5);
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 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);
}
public static final class IDs {
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 2);
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 3);
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 10);
public static final CanDevice RIGHT_FRONT_WHEEL = new CanDevice("RIGHT_FRONT_WHEEL", 4);
public static final CanDevice RIGHT_FRONT_STEER = new CanDevice("RIGHT_FRONT_STEER", 5);
public static final CanDevice RIGHT_FRONT_ENCODER = new CanDevice("RIGHT_FRONT_ENCODER", 11);
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 4);
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 5);
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 11);
public static final CanDevice LEFT_FRONT_WHEEL = new CanDevice("LEFT_FRONT_WHEEL", 2);
public static final CanDevice LEFT_FRONT_STEER = new CanDevice("LEFT_FRONT_STEER", 3);
public static final CanDevice LEFT_FRONT_ENCODER = new CanDevice("LEFT_FRONT_ENCODER", 10);
public static final CanDevice LEFT_BACK_WHEEL = new CanDevice("LEFT_BACK_WHEEL", 6);
public static final CanDevice LEFT_BACK_STEER = new CanDevice("LEFT_BACK_STEER", 7);
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -93,7 +93,7 @@ public class RobotContainer {
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
true);
false);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
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@@ -78,7 +78,7 @@ public class SwerveDrive extends Subsystem {
if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
);
@@ -163,7 +163,7 @@ public class SwerveDrive extends Subsystem {
}
public void stopModules() {
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
// swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
}
@Override