From b6850a11a7277252c107770180178a4a10e12bb5 Mon Sep 17 00:00:00 2001 From: C4llSiqn <83995467+C4llSqin@users.noreply.github.com> Date: Sat, 11 Jan 2025 11:06:52 -0700 Subject: [PATCH] Calibrate 2025 swerve drive --- src/main/java/frc4388/robot/Constants.java | 30 +++++++++---------- .../java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/subsystems/SwerveDrive.java | 4 +-- 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3bfe1d4..f31f9cb 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -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); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 63f9eec..882fba7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -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(); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index c685f23..db8aba0 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -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