fix: module offsets

flamingchickens1540 · Jan 11, 2024 · 884bb1a · 884bb1a
1 parent e928fcd
commit 884bb1a
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Showing 4 changed files with 9 additions and 12 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Robot.java b/src/main/java/org/team1540/robot2024/Robot.java
@@ -113,7 +113,6 @@ public void disabledPeriodic() {
     @Override
     public void autonomousInit() {
         autonomousCommand = robotContainer.getAutonomousCommand();
-        robotContainer.drive.setPose(PathPlannerAuto.getStaringPoseFromAutoFile("TestAuto"));
         // schedule the autonomous command (example)
         if (autonomousCommand != null) {
             autonomousCommand.schedule();

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -42,10 +42,10 @@ public RobotContainer() {
                 drive =
                         new Drive(
                                 new GyroIONavx(),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(1, SwerveFactory.SwerveCorner.FRONT_LEFT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(7, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(4, SwerveFactory.SwerveCorner.BACK_LEFT)),
-                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(3, SwerveFactory.SwerveCorner.BACK_RIGHT)));
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(3, SwerveFactory.SwerveCorner.FRONT_LEFT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(4, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(7, SwerveFactory.SwerveCorner.BACK_LEFT)),
+                                new ModuleIOTalonFX(SwerveFactory.getModuleMotors(1, SwerveFactory.SwerveCorner.BACK_RIGHT)));
                 // drive = new Drive(
                 // new GyroIOPigeon2(),
                 // new ModuleIOTalonFX(0),
@@ -59,8 +59,7 @@ public RobotContainer() {
                 // Sim robot, instantiate physics sim IO implementations
                 drive =
                         new Drive(
-                                new GyroIO() {
-                                },
+                                new GyroIO() {},
                                 new ModuleIOSim(),
                                 new ModuleIOSim(),
                                 new ModuleIOSim(),

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java
@@ -53,7 +53,6 @@ public Module(ModuleIO io, int index) {
     }
 
     public void periodic() {
-        System.out.println(driveFeedback.getP() + " " + driveFeedback.getI() + " " + driveFeedback.getD());
         io.updateInputs(inputs);
         Logger.processInputs("Drive/Module" + index, inputs);
 

diff --git a/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java b/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java
@@ -12,9 +12,9 @@
 
 public class SwerveFactory {
     private static final double[] moduleOffsetsRots = new double[]{
-            -0.4130859, // Module 1
+            -0.9130859, // Module 1
             0.0, // Module 2
-            -0.2197265, // Module 3
+            -0.7197265, // Module 3
             -0.7722, // Module 4
             0.0, // Module 5
             0.0, // Module 6
@@ -27,10 +27,10 @@ public static SwerveModuleHW getModuleMotors(int id, SwerveCorner corner) {
     }
 
     public enum SwerveCorner {
-        FRONT_LEFT(180),
+        FRONT_LEFT(0),
         FRONT_RIGHT(90),
         BACK_LEFT(270),
-        BACK_RIGHT(0);
+        BACK_RIGHT(180);
 
         private final double offset;
         SwerveCorner(double offset) {