Add cancoders + update ports

StuyPulse · Jan 27, 2024 · cc11727 · cc11727
1 parent 619c3eb
commit cc11727
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Showing 3 changed files with 15 additions and 16 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java
@@ -40,25 +40,25 @@ public interface Swerve {
         public interface BackLeft {
             int DRIVE = 10;
             int TURN = 11;
-            int ENCODER = 2;
+            int ENCODER = 3;
         }
 
-        public interface BackRight {
+        public interface BackRight { 
             int DRIVE = 12;
             int TURN = 13;
             int ENCODER = 1;
         }
-
-        public interface FrontRight {
+        
+        public interface FrontRight { 
             int DRIVE = 14;
             int TURN = 15;
             int ENCODER = 4;
         }
-
+        
         public interface FrontLeft {
             int DRIVE = 16;
             int TURN = 17;
-            int ENCODER = 3;
+            int ENCODER = 2;
         }
     }
 }
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -34,7 +34,7 @@ public enum Mechanism {
             DOUBLE_JOINTED_ARM_JOINT_TWO
         }
 
-        public Mechanism ROUTINE = Mechanism.FLYWHEEL;
+        public Mechanism ROUTINE = Mechanism.SWERVE_DRIVE;
     }
 
     public interface Flywheel {
@@ -116,9 +116,9 @@ public interface Drive {
             SmartNumber kI = new SmartNumber("Swerve/Drive/kI", 0.0);
             SmartNumber kD = new SmartNumber("Swerve/Drive/kD", 0.0);
 
-            SmartNumber kS = new SmartNumber("Swerve/Drive/kS", 0.36493);
-            SmartNumber kV = new SmartNumber("Swerve/Drive/kV", 2.448);
-            SmartNumber kA = new SmartNumber("Swerve/Drive/kA", 0.16408);
+            SmartNumber kS = new SmartNumber("Swerve/Drive/kS", 0.2021);
+            SmartNumber kV = new SmartNumber("Swerve/Drive/kV", 0.0017542);
+            SmartNumber kA = new SmartNumber("Swerve/Drive/kA", 0.00013496);
         }
 
         public interface Motion {
@@ -129,25 +129,25 @@ public interface Motion {
 
         public interface FrontRight {
             String ID = "Front Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(-153.984375);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(-153.632812 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
         }
 
         public interface FrontLeft {
             String ID = "Front Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(149.326172);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(147.919922 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * +0.5);
         }
 
         public interface BackLeft {
             String ID = "Back Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(71.191406);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(73.125 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * +0.5);
         }
 
         public interface BackRight {
             String ID = "Back Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(45.351562);
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(-2.02184 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
         }
 
@@ -157,7 +157,7 @@ public interface Drive {
                 double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI;
                 double GEAR_RATIO = 1.0 / 6.12;
 
-                double POSITION_CONVERSION = WHEEL_CIRCUMFERENCE * GEAR_RATIO;
+                double POSITION_CONVERSION = WHEEL_CIRCUMFERENCE * GEAR_RATIO / 1000;
                 double VELOCITY_CONVERSION = POSITION_CONVERSION / 60.0;
             }
 

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java
@@ -66,7 +66,6 @@ public SwerveModule(String id, Rotation2d angleOffset, int turnID, int driveID,
         driveController =
                 new PIDController(Drive.kP, Drive.kI, Drive.kD)
                         .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());
-        ;
 
         turnMotor = new CANSparkMax(turnID, MotorType.kBrushless);
         turnMotor.setIdleMode(IdleMode.kBrake);