Updates offsets

FRC5190 · Feb 22, 2024 · d1013a0 · d1013a0
1 parent afe06ac
commit d1013a0
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/main/java/org/ghrobotics/frc2024/subsystems/Drive.java b/src/main/java/org/ghrobotics/frc2024/subsystems/Drive.java
@@ -143,26 +143,26 @@ 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