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start overhauling swerve drive class

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C4llSiqn
2025-01-06 21:34:40 -07:00
parent 7f93deef6e
commit f27ca5aab7
3 changed files with 47 additions and 51 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -2
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@@ -80,6 +80,8 @@ 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 = 0; // 0, 90, 180, 270
private static final class ModuleSpecificConstants {
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.0);
@@ -148,13 +150,13 @@ public final class Constants {
// The steer motor uses any SwerveModule.SteerRequestType control request with the
// output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
private static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
public static final Slot0Configs PREPROVIDED_STEER_GAINS = new Slot0Configs()
.withKP(100).withKI(0).withKD(0.5)
.withKS(0.1).withKV(1.91).withKA(0)
.withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
// When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
public static final Slot0Configs PREPROVIDED_DRIVE_GAINS = new Slot0Configs()
.withKP(0.1).withKI(0).withKD(0)
.withKS(0).withKV(0.124);
}