Team_2648/2026-Robot-Code
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Build Session 1/24, swerve work, need to revalidate individual module CAN IDs

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This commit is contained in:
Bradley Bickford
2026-01-24 18:02:05 -05:00
parent c6cc0c6b60
commit dae39c30a0
5 changed files with 59 additions and 37 deletions
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29
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -9,9 +9,8 @@ public class DrivetrainConstants {
public static final double kMaxSpeedMetersPerSecond = 4.125;
public static final double kMaxAngularSpeed = 2 * Math.PI;
// TODO Replace zeros with real numbers
public static final double kTrackWidth = Units.inchesToMeters(0);
public static final double kWheelBase = Units.inchesToMeters(0);
public static final double kTrackWidth = Units.inchesToMeters(23.75);
public static final double kWheelBase = Units.inchesToMeters(18.75);
// TODO Replace zeros with real numbers
// These values should be determinable by writing the magnetic encoder output
@@ -24,26 +23,24 @@ public class DrivetrainConstants {
public static final double kRearLeftMagEncoderOffset = 0;
public static final double kRearRightMagEncoderOffset = 0;
// Kraken CAN IDs
// TODO Real CAN IDs
// Kraken CAN IDs
public static final int kFrontLeftDrivingCANID = 0;
public static final int kFrontRightDrivingCANID = 0;
public static final int kRearLeftDrivingCANID = 0;
public static final int kRearRightDrivingCANID = 0;
public static final int kFrontRightDrivingCANID = 1;//3;
public static final int kRearLeftDrivingCANID = 3;//1;
public static final int kRearRightDrivingCANID = 2;
// SparkMAX CAN IDs
// TODO Real CAN IDs
public static final int kFrontLeftTurningCANID = 0;
public static final int kFrontRightTurningCANID = 0;
public static final int kRearLeftTurningCANID = 0;
public static final int kRearRightTurningCANID = 0;
public static final int kFrontLeftTurningCANID = 8;
public static final int kFrontRightTurningCANID = 7;//9;
public static final int kRearLeftTurningCANID = 9;//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 = 0;
public static final int kRearLeftAnalogInPort = 0;
public static final int kRearRightAnalogInPort = 0;
public static final int kFrontRightAnalogInPort = 1;
public static final int kRearLeftAnalogInPort = 2;
public static final int kRearRightAnalogInPort = 3;
public static final boolean kGyroReversed = true;

13
src/main/java/frc/robot/constants/ModuleConstants.java
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@@ -11,13 +11,11 @@ import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.util.Units;
public class ModuleConstants {
// DRIVING MOTOR CONFIG (Kraken)
// TODO Replace with something other than 0
public static final double kDrivingMotorReduction = 0;
public static final double kDrivingMotorReduction = (14.0 * 28.0 * 15.0) / (50 * 16 * 45);
public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
@@ -44,14 +42,15 @@ public class ModuleConstants {
public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
// TURNING MOTOR CONFIG (NEO)
// TODO Hold over from 2025, adjust?
public static final double kTurningMotorReduction = 0;
public static final double kTurningMotorReduction = 150.0/7.0;
public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
// TODO Adjust? Let over from 2025
public static final double kTurnP = 1;
public static final double kTurnI = 0;
public static final double kTurnD = 0;
public static final boolean kIsEncoderInverted = false;
// TODO How sensitive is too sensitive?
public static final double kAutoResetPositionDeadband = Units.degreesToRadians(.25);
@@ -93,7 +92,7 @@ public class ModuleConstants {
.idleMode(kTurnIdleMode)
.smartCurrentLimit(kTurnMotorCurrentLimit);
turningConfig.encoder
.inverted(true)
//.inverted(true)
.positionConversionFactor(kTurningFactor)
.velocityConversionFactor(kTurningFactor / 60.0);
turningConfig.closedLoop