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\ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b7db63971..31dd24382 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj.Timer; //import frc.lib.util.AbsoluteEncoder; /** @@ -113,8 +112,8 @@ public void teleopInit() { } - /*Reset Absolute */ - m_robotContainer.resetAbsolute(); + /*Reset Absolute */ + m_robotContainer.resetAbsolute(); diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index 548748445..5e9372d59 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -147,9 +147,9 @@ public Command followTrajectoryCommand(PathPlannerTrajectory traj, boolean isFir traj, this::getPose, // Pose supplier Constants.Swerve.swerveKinematics, // SwerveDriveKinematics - new PIDController(1, 0, 0), // X controller. Tune these values for your robot. Leaving them 0 will only use feedforwards. - new PIDController(1, 0, 0), // Y controller (usually the same values as X controller) - new PIDController(5, 0, 0), // Rotation controller. Tune these values for your robot. Leaving them 0 will only use feedforwards. + new PIDController(0, 0, 0), // X controller. Tune these values for your robot. Leaving them 0 will only use feedforwards. + new PIDController(0, 0, 0), // Y controller (usually the same values as X controller) + new PIDController(0, 0, 0), // Rotation controller. Tune these values for your robot. Leaving them 0 will only use feedforwards. this::setModuleStates, // Module states consumer this // Requires this drive subsystem )