Team4388/Swerve-Drive
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Encoder offsets.

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This commit is contained in:
‮Zach Wilke
2021-12-06 16:41:28 -07:00
parent 7672d58439
commit 5f3e48b0ec
3 changed files with 17 additions and 6 deletions
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src/main/java/frc4388/robot/RobotMap.java
+8 -2
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@@ -11,6 +11,7 @@ import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.AbsoluteSensorRange;
import com.ctre.phoenix.sensors.CANCoder;
import edu.wpi.first.wpilibj.Spark;
@@ -29,6 +30,7 @@ public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureArcadeDriveMotorControllers();
configureSwerveMotorControllers();
}
/* LED Subsystem */
@@ -83,7 +85,11 @@ public class RobotMap {
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
void configureSwerveMotorController() {
void configureSwerveMotorControllers() {
leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
}
}