Team_2648/2026-Robot-Code
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Adding module zeroing constants and a few other minor changes from 2/3 build session

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This commit is contained in:
Bradley Bickford
2026-02-03 18:32:32 -05:00
parent e4a58f00df
commit ffc1c0cd8b
4 changed files with 36 additions and 12 deletions
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8
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -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;

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);

23
src/main/java/frc/robot/utilities/SparkMAXTester.java Normal file
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@@ -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());
});
}
}

1
src/main/java/frc/robot/utilities/SwerveModule.java
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@@ -134,6 +134,7 @@ public class SwerveModule {
}
public void periodic() {
if(!isAbsoluteEncoderDisabled) {
Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
}