Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

functional pathplanner... needs autos.

Browse Source
This commit is contained in:
C4llSiqn
2025-01-17 16:59:32 -07:00
parent 1bd3c12327
commit dd033d0768
3 changed files with 10 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+2 -1
View File
@@ -103,7 +103,8 @@ public final class Constants {
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
View File
@@ -74,7 +74,7 @@ public class SwerveDrive extends Subsystem {
AutoBuilder.configure(
() -> {
var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
// pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;//getRotation().times(-1)
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)