Team_2648/2026-Robot-Code
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Pushing up the little bit of work from 1/27 build session

Browse Source
This commit is contained in:
Bradley Bickford
2026-01-27 18:34:34 -05:00
parent dae39c30a0
commit 436667d0e4
2 changed files with 22 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
src/main/java/frc/robot/constants/DrivetrainConstants.java
View File

@@ -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;