Team4388/2026KPopRobotHunters
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Shikhar
2026-02-02 19:41:24 -07:00
parent dc33af165d
commit de0952c14a
5 changed files with 72 additions and 51 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+6 -5
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@@ -31,6 +31,7 @@ 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;
@@ -79,7 +80,7 @@ public final class SwerveDriveConstants {
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.35);
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;
@@ -87,7 +88,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.465332+0.3);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
@@ -95,7 +96,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.023438);
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;
@@ -103,7 +104,7 @@ public final class SwerveDriveConstants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.029541+0.05);
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;
@@ -208,7 +209,7 @@ public final class SwerveDriveConstants {
}
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
.withPigeon2Id(IDs.DRIVE_PIGEON.id);
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(CANBUS_NAME);
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.