Team_2648/2024_Robot_Code
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Swerve diagnosing

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This commit is contained in:
Bradley Bickford 2024-02-24 17:48:46 -05:00
parent 0e308e2986
commit 3fec792691
2 changed files with 8 additions and 8 deletions
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14
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@ -10,9 +10,9 @@ public final class DrivetrainConstants {
public static final double kMaxSpeedMetersPerSecond = 4.1; public static final double kMaxSpeedMetersPerSecond = 4.1;
public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
public static final double kDirectionSlewRate = 2.4; // radians per second public static final double kDirectionSlewRate = 4.8; // radians per second
public static final double kMagnitudeSlewRate = 3.2; // percent per second (1 = 100%) public static final double kMagnitudeSlewRate = 6.4; // percent per second (1 = 100%)
public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%) public static final double kRotationalSlewRate = 8.0; // percent per second (1 = 100%)
// Chassis configuration // Chassis configuration
public static final double kTrackWidth = Units.inchesToMeters(28-1.75*2); public static final double kTrackWidth = Units.inchesToMeters(28-1.75*2);
@ -26,10 +26,10 @@ public final class DrivetrainConstants {
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)); new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
// Angular offsets of the modules relative to the chassis in radians // Angular offsets of the modules relative to the chassis in radians
public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2; public static final double kFrontLeftChassisAngularOffset = Math.PI;
public static final double kFrontRightChassisAngularOffset = 0; public static final double kFrontRightChassisAngularOffset = -Math.PI / 2;
public static final double kBackLeftChassisAngularOffset = Math.PI; public static final double kBackLeftChassisAngularOffset = Math.PI / 2;
public static final double kBackRightChassisAngularOffset = Math.PI / 2; public static final double kBackRightChassisAngularOffset = 0;
// SPARK MAX CAN IDs // SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 8; public static final int kFrontLeftDrivingCanId = 8;

2
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -301,7 +301,7 @@ public class Drivetrain extends SubsystemBase {
-MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband), -MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband),
-MathUtil.applyDeadband(rotation.getAsDouble(), deadband), -MathUtil.applyDeadband(rotation.getAsDouble(), deadband),
() -> fieldRelativeControl, () -> fieldRelativeControl,
false true
); );
}); });
} }