From ffc1c0cd8b83e5344b64436311f4bed0c47b60cc Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Tue, 3 Feb 2026 18:32:32 -0500
Subject: [PATCH] Adding module zeroing constants and a few other minor changes
 from 2/3 build session

---
 .../robot/constants/DrivetrainConstants.java  |  8 +++----
 .../java/frc/robot/subsystems/Drivetrain.java | 16 ++++++-------
 .../frc/robot/utilities/SparkMAXTester.java   | 23 +++++++++++++++++++
 .../frc/robot/utilities/SwerveModule.java     |  1 +
 4 files changed, 36 insertions(+), 12 deletions(-)
 create mode 100644 src/main/java/frc/robot/utilities/SparkMAXTester.java

diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index f4d8d61..e8b35fd 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -12,10 +12,10 @@ 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;
+    public static final double kFrontLeftMagEncoderOffset = 2.965;
+    public static final double kFrontRightMagEncoderOffset = 1.120;
+    public static final double kRearLeftMagEncoderOffset = 3.761;
+    public static final double kRearRightMagEncoderOffset = 2.573;
 
     public static final int kFrontLeftDrivingCANID = 0;
     public static final int kFrontRightDrivingCANID = 3;
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 3281da4..b0eefd0 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -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);
 
diff --git a/src/main/java/frc/robot/utilities/SparkMAXTester.java b/src/main/java/frc/robot/utilities/SparkMAXTester.java
new file mode 100644
index 0000000..2967757
--- /dev/null
+++ b/src/main/java/frc/robot/utilities/SparkMAXTester.java
@@ -0,0 +1,23 @@
+package frc.robot.utilities;
+
+import java.util.function.DoubleSupplier;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class SparkMAXTester extends SubsystemBase {
+    private SparkMax spark;
+
+    public SparkMAXTester(int deviceID) {
+        spark = new SparkMax(deviceID, MotorType.kBrushless);
+    }
+
+    public Command setSpeed(DoubleSupplier speed) {
+        return run(() -> {
+            spark.set(speed.getAsDouble());
+        });
+    }
+}
diff --git a/src/main/java/frc/robot/utilities/SwerveModule.java b/src/main/java/frc/robot/utilities/SwerveModule.java
index ccc0169..9aaa1ba 100644
--- a/src/main/java/frc/robot/utilities/SwerveModule.java
+++ b/src/main/java/frc/robot/utilities/SwerveModule.java
@@ -134,6 +134,7 @@ public class SwerveModule {
     }
 
     public void periodic() {
+        
         if(!isAbsoluteEncoderDisabled) {
             Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
         }