Team_2648/2026-Robot-Code
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FINALLY FIXED SWERVE

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This commit is contained in:
Bradley Bickford
2026-01-31 17:03:35 -05:00
parent 95108b7da7
commit 66049f1357
3 changed files with 23 additions and 17 deletions
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12
src/main/java/frc/robot/RobotContainer.java
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@@ -50,10 +50,14 @@ public class RobotContainer {
) )
); );
driver.x().whileTrue(drivetrain.runFrontLeft()); driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
driver.y().whileTrue(drivetrain.runFrontRight()); driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
driver.a().whileTrue(drivetrain.runRearLeft()); driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
driver.b().whileTrue(drivetrain.runRearRight()); driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
driver.start().negate().and(driver.y()).whileTrue(drivetrain.runFrontRight(0, 45));
driver.start().negate().and(driver.a()).whileTrue(drivetrain.runRearLeft(0, 45));
driver.start().negate().and(driver.b()).whileTrue(drivetrain.runRearRight(0, 45));
driver.rightBumper().whileTrue(drivetrain.setX()); driver.rightBumper().whileTrue(drivetrain.setX());
//drivetrain.setDefaultCommand(drivetrain.disableOutputs()); //drivetrain.setDefaultCommand(drivetrain.disableOutputs());

4
src/main/java/frc/robot/constants/ModuleConstants.java
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@@ -90,7 +90,8 @@ public class ModuleConstants {
turningConfig turningConfig
.idleMode(kTurnIdleMode) .idleMode(kTurnIdleMode)
.smartCurrentLimit(kTurnMotorCurrentLimit); .smartCurrentLimit(kTurnMotorCurrentLimit)
.inverted(true);
turningConfig.encoder turningConfig.encoder
//.inverted(true) //.inverted(true)
.positionConversionFactor(kTurningFactor) .positionConversionFactor(kTurningFactor)
@@ -101,5 +102,6 @@ public class ModuleConstants {
.outputRange(-1, 1) .outputRange(-1, 1)
.positionWrappingEnabled(true) .positionWrappingEnabled(true)
.positionWrappingInputRange(0, 2 * Math.PI); .positionWrappingInputRange(0, 2 * Math.PI);
} }
} }

24
src/main/java/frc/robot/subsystems/Drivetrain.java
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@@ -134,32 +134,32 @@ public class Drivetrain extends SubsystemBase {
Logger.recordOutput("Drivetrain/Heading", getHeading()); Logger.recordOutput("Drivetrain/Heading", getHeading());
} }
public Command runFrontLeft() { public Command runFrontLeft(double staticSpeed, double staticAngleDegrees) {
return run(() -> { return run(() -> {
frontLeft.setDesiredState(new SwerveModuleState( frontLeft.setDesiredState(new SwerveModuleState(
1, staticSpeed,
new Rotation2d())); Rotation2d.fromDegrees(staticAngleDegrees)));
}); });
} }
public Command runFrontRight() { public Command runFrontRight(double staticSpeed, double staticAngleDegrees) {
return run(() -> { return run(() -> {
frontRight.setDesiredState(new SwerveModuleState( frontRight.setDesiredState(new SwerveModuleState(
1, staticSpeed,
new Rotation2d())); Rotation2d.fromDegrees(staticAngleDegrees)));
}); });
} }
public Command runRearLeft() { public Command runRearLeft(double staticSpeed, double staticAngleDegrees) {
return run(() -> { return run(() -> {
rearLeft.setDesiredState(new SwerveModuleState( rearLeft.setDesiredState(new SwerveModuleState(
1, staticSpeed,
new Rotation2d())); Rotation2d.fromDegrees(staticAngleDegrees)));
}); });
} }
public Command runRearRight() { public Command runRearRight(double staticSpeed, double staticAngleDegrees) {
return run(() -> { return run(() -> {
rearRight.setDesiredState(new SwerveModuleState( rearRight.setDesiredState(new SwerveModuleState(
1, staticSpeed,
new Rotation2d())); Rotation2d.fromDegrees(staticAngleDegrees)));
}); });
} }