Team4388/Swerve-Drive
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configured cancoder as remote encoder for swerve steer motors (hopefully)

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aarav18
2021-12-06 17:53:15 -07:00
parent 91881c52f0
commit af7f994605
2 changed files with 8 additions and 0 deletions
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src/main/java/frc4388/robot/Constants.java
+1
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@@ -62,6 +62,7 @@ public final class Constants {
// swerve configuration // swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04; public static final double NEUTRAL_DEADBAND = 0.04;
public static final double OPEN_LOOP_RAMP_RATE = 0.2; public static final double OPEN_LOOP_RAMP_RATE = 0.2;
public static final int REMOTE_0 = 0;
} }
public static final class LEDConstants { public static final class LEDConstants {
public static final int LED_SPARK_ID = 0; public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotMap.java
+7
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@@ -9,6 +9,7 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType; import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.AbsoluteSensorRange; import com.ctre.phoenix.sensors.AbsoluteSensorRange;
@@ -127,6 +128,12 @@ public class RobotMap {
leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
// config cancoder as remote encoder for swerve steer motors
leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
} }
} }