Team_2648/2026-Robot-Code
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Pushing up the little bit of work from 1/27 build session

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Bradley Bickford
2026-01-27 18:34:34 -05:00
parent dae39c30a0
commit 436667d0e4
2 changed files with 22 additions and 31 deletions
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37
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -1,5 +1,6 @@
package frc.robot.constants;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.util.Units;
@@ -11,36 +12,26 @@ public class DrivetrainConstants {
public static final double kTrackWidth = Units.inchesToMeters(23.75);
public static final double kWheelBase = Units.inchesToMeters(18.75);
public static final double kFrontLeftMagEncoderOffset = 2.98;
public static final double kFrontRightMagEncoderOffset = 1.18;
public static final double kRearLeftMagEncoderOffset = 3.69;
public static final double kRearRightMagEncoderOffset = 2.54;
// TODO Replace zeros with real numbers
// These values should be determinable by writing the magnetic encoder output
// to the dashboard, and manually aligning all wheels such that the bevel gears
// on the side of the wheel all face left. Some known straight edge (like 1x1 or similar)
// should be used as the alignment medium. If done correctly, and the modules aren't disassembled,
// then these values should work throughout the season the first time they are set.
public static final double kFrontLeftMagEncoderOffset = 0;
public static final double kFrontRightMagEncoderOffset = 0;
public static final double kRearLeftMagEncoderOffset = 0;
public static final double kRearRightMagEncoderOffset = 0;
// Kraken CAN IDs
public static final int kFrontLeftDrivingCANID = 0;
public static final int kFrontRightDrivingCANID = 1;//3;
public static final int kRearLeftDrivingCANID = 3;//1;
public static final int kFrontRightDrivingCANID = 3;
public static final int kRearLeftDrivingCANID = 1;
public static final int kRearRightDrivingCANID = 2;
// SparkMAX CAN IDs
public static final int kFrontLeftTurningCANID = 8;
public static final int kFrontRightTurningCANID = 7;//9;
public static final int kRearLeftTurningCANID = 9;//7;
public static final int kFrontRightTurningCANID = 9;
public static final int kRearLeftTurningCANID = 7;
public static final int kRearRightTurningCANID = 6;
// Analog Encoder Input Ports
// TODO Real Port IDs
public static final int kFrontLeftAnalogInPort = 0;
public static final int kFrontRightAnalogInPort = 1;
public static final int kRearLeftAnalogInPort = 2;
public static final int kRearRightAnalogInPort = 3;
public static final int kFrontLeftAnalogInPort = 3;
public static final int kFrontRightAnalogInPort = 2;
public static final int kRearLeftAnalogInPort = 0;
public static final int kRearRightAnalogInPort = 1;
public static final boolean kGyroReversed = true;

16
src/main/java/frc/robot/subsystems/Drivetrain.java
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@@ -48,34 +48,34 @@ public class Drivetrain extends SubsystemBase {
frontLeft = new SwerveModule(
"FrontLeft",
DrivetrainConstants.kFrontLeftDrivingCANID,
DrivetrainConstants.kFrontLeftTurningCANID);/*,
DrivetrainConstants.kFrontLeftTurningCANID,
DrivetrainConstants.kFrontLeftAnalogInPort,
DrivetrainConstants.kFrontLeftMagEncoderOffset
); */
);
frontRight = new SwerveModule(
"FrontRight",
DrivetrainConstants.kFrontRightDrivingCANID,
DrivetrainConstants.kFrontRightTurningCANID);/*,
DrivetrainConstants.kFrontRightTurningCANID,
DrivetrainConstants.kFrontRightAnalogInPort,
DrivetrainConstants.kFrontRightMagEncoderOffset
);*/
);
rearLeft = new SwerveModule(
"RearLeft",
DrivetrainConstants.kRearLeftDrivingCANID,
DrivetrainConstants.kRearLeftTurningCANID);/*,
DrivetrainConstants.kRearLeftTurningCANID,
DrivetrainConstants.kRearLeftAnalogInPort,
DrivetrainConstants.kRearLeftMagEncoderOffset
);*/
);
rearRight = new SwerveModule(
"RearRight",
DrivetrainConstants.kRearRightDrivingCANID,
DrivetrainConstants.kRearRightTurningCANID);/*,
DrivetrainConstants.kRearRightTurningCANID,
DrivetrainConstants.kRearRightAnalogInPort,
DrivetrainConstants.kRearRightMagEncoderOffset
);*/
);
gyro = new AHRS(NavXComType.kMXP_SPI);