Updated to the latest main branch

FRC5190 · Feb 24, 2024 · 601c2f6 · 601c2f6
2 parents e0642c9 + a532db5
commit 601c2f6
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Showing 4 changed files with 11 additions and 15 deletions.
diff --git a/src/main/java/org/ghrobotics/frc2024/CANCoderSwerve.java b/src/main/java/org/ghrobotics/frc2024/CANCoderSwerve.java
@@ -54,9 +54,9 @@ public void configure(boolean inverted) {
     MagnetSensorConfigs  magnetSensorConfiguration = new MagnetSensorConfigs();
     cfg.refresh(magnetSensorConfiguration);
     cfg.apply(magnetSensorConfiguration
-                  .withAbsoluteSensorRange(AbsoluteSensorRangeValue.Signed_PlusMinusHalf)
-                  .withSensorDirection(inverted ? SensorDirectionValue.Clockwise_Positive
-                                                : SensorDirectionValue.CounterClockwise_Positive));
+      .withAbsoluteSensorRange(AbsoluteSensorRangeValue.Signed_PlusMinusHalf)
+        .withSensorDirection(inverted ? SensorDirectionValue.Clockwise_Positive
+          : SensorDirectionValue.CounterClockwise_Positive));
   }
 
   /**

diff --git a/src/main/java/org/ghrobotics/frc2024/Robot.java b/src/main/java/org/ghrobotics/frc2024/Robot.java
@@ -26,14 +26,10 @@ public class Robot extends TimedRobot {
 
   // Xbox Controller
   private final CommandXboxController driver_controller_ = new CommandXboxController(0);
-
-  // private final AutoSelector auto_selector_ = new AutoSelector(drive_, robot_state_);
 
   @Override
   public void robotInit() {
     drive_.setDefaultCommand(new DriveTeleop(drive_, robot_state_, driver_controller_));
-
-    drive_.setBrakeMode(true);
   }
 
   @Override

diff --git a/src/main/java/org/ghrobotics/frc2024/subsystems/Drive.java b/src/main/java/org/ghrobotics/frc2024/subsystems/Drive.java
@@ -159,26 +159,26 @@ private static class Constants {
       kFrontLeftConfig.drive_id = 1;
       kFrontLeftConfig.steer_id = 2;
       kFrontLeftConfig.cancoder_id = 11;
-      kFrontLeftConfig.module_offset_deg = -24.69 + 90;
+      kFrontLeftConfig.module_offset_deg = -8.0;
       kFrontLeftConfig.invert = false;
 
       kFrontRightConfig.drive_id = 3;
       kFrontRightConfig.steer_id = 4;
       kFrontRightConfig.cancoder_id = 12;
-      kFrontRightConfig.module_offset_deg = 0;
+      kFrontRightConfig.module_offset_deg = 173.44;
       kFrontRightConfig.invert = true;
 
       kBackLeftConfig.drive_id = 5;
       kBackLeftConfig.steer_id = 6;
       kBackLeftConfig.cancoder_id = 13;
-      kBackLeftConfig.module_offset_deg = -8 + 180;
+      kBackLeftConfig.module_offset_deg = 9.14;
       kBackLeftConfig.invert = false;
       // (228.00 + -46.799534) + 180;
 
       kBackRightConfig.drive_id = 7;
       kBackRightConfig.steer_id = 8;
       kBackRightConfig.cancoder_id = 14;
-      kBackRightConfig.module_offset_deg = -14;
+      kBackRightConfig.module_offset_deg = 60.90;
       kBackRightConfig.invert = true;
     }
 

diff --git a/src/main/java/org/ghrobotics/frc2024/subsystems/SwerveModule.java b/src/main/java/org/ghrobotics/frc2024/subsystems/SwerveModule.java
@@ -34,12 +34,12 @@ public SwerveModule(Configuration configuration) {
     // Initialize motor controllers
     drive_motor_ = new CANSparkMax(configuration_.drive_id, CANSparkMax.MotorType.kBrushless);
     drive_motor_.restoreFactoryDefaults();
-    drive_motor_.setIdleMode(CANSparkMax.IdleMode.kBrake);
+    drive_motor_.setIdleMode(CANSparkMax.IdleMode.kCoast);
     drive_motor_.setInverted(configuration_.invert);
 
     steer_motor_ = new CANSparkMax(configuration_.steer_id, CANSparkMax.MotorType.kBrushless);
     steer_motor_.restoreFactoryDefaults();
-    steer_motor_.setIdleMode(CANSparkMax.IdleMode.kBrake);
+    steer_motor_.setIdleMode(CANSparkMax.IdleMode.kCoast);
     steer_motor_.setInverted(true);
 
     // Initialize encoders
@@ -75,7 +75,7 @@ public double getDrivePosition() {
   // Get Steer Position
   public Rotation2d getSteerPosition() {
     return new Rotation2d(
-    Math.IEEEremainder(steer_encoder_.getPosition(), 2 * Math.PI));
+      Math.IEEEremainder(steer_encoder_.getPosition(), 2 * Math.PI));
   }
 
   // Get Module Position
@@ -121,7 +121,7 @@ public void setAngle(double desired_angle_degs) {
 
     // Set steer angle
     double steering_correction = steer_pid_controller_.calculate(
-    getSteerPosition().getRadians(), desired_angle_rad);
+      getSteerPosition().getRadians(), desired_angle_rad);
     steer_motor_.set(steering_correction);
   }