Team4388/2026KPopRobotHunters
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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+2 -2
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@@ -22,6 +22,7 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Angle;
import frc4388.robot.constants.Constants;
import frc4388.utility.configurable.ConfigurableDouble;
//import edu.wpi.first.units.measure.measure.Distance;
import frc4388.utility.status.CanDevice;
@@ -31,7 +32,6 @@ import frc4388.utility.structs.Gains;
// No mans land
// Beware, there be dragons.
public final class SwerveDriveConstants {
public static final String CANBUS_NAME = "drivetrain";
public static final double MAX_ROT_SPEED = Math.PI * 2;
public static final double AUTO_MAX_ROT_SPEED = 1.5;
public static final double MIN_ROT_SPEED = 1.0;
@@ -209,7 +209,7 @@ public final class SwerveDriveConstants {
}
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(CANBUS_NAME);
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(Constants.CANIVORE_CANBUS.getName());
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.