Team4388/2026KPopRobotHunters
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Tweaked shooter offset model and new progress with X position
This commit is contained in:
mimigamin
2026-03-14 18:29:15 -06:00
parent 07ec609b01
commit ebab028818
11 changed files with 87 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+9 -5
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@@ -75,9 +75,10 @@ public final class SwerveDriveConstants {
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
private static final class ModuleSpecificConstants { //2025
public static final class ModuleSpecificConstants { //2026
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.350-0.03+0.0134+0.06-0.043);
public static final Angle FRONT_LEFT_ENCODER_OFFSET_CONSTANT = Rotations.of(0.49707+0.350-0.03+0.0134+0.06-0.043);
public static Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.350-0.03+0.0134+0.06-0.043);
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;
@@ -85,7 +86,8 @@ 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(0.465332+0.3+0.003174-0.0103);
public static final Angle FRONT_RIGHT_ENCODER_OFFSET_CONSTANT = Rotations.of(0.465332+0.3+0.003174-0.0103);
public static Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.465332+0.3+0.003174-0.0103);
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;
@@ -93,7 +95,8 @@ 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(0.023438+0.5+0.0168-0.00562);
public static final Angle BACK_LEFT_ENCODER_OFFSET_CONSTANT = Rotations.of(0.023438+0.5+0.0168-0.00562);
public static Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.023438+0.5+0.0168-0.00562);
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;
@@ -101,7 +104,8 @@ 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(0.029541+0.05-0.002197-0.00366);
public static final Angle BACK_RIGHT_ENCODER_OFFSET_CONSTANT = Rotations.of(0.029541+0.05-0.002197-0.00366);
public static Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.029541+0.05-0.002197-0.00366);
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;