From 685ecd69d6bb2e6110a76e496ad962db35b244fa Mon Sep 17 00:00:00 2001 From: Husky Robotics Team Date: Mon, 8 Jul 2024 14:18:17 -0700 Subject: [PATCH] Tune last swerve (#330) Co-authored-by: Abhay Deshpande --- src/world_interface/real_world_constants.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/world_interface/real_world_constants.h b/src/world_interface/real_world_constants.h index df20be3d..95a661ee 100644 --- a/src/world_interface/real_world_constants.h +++ b/src/world_interface/real_world_constants.h @@ -88,7 +88,7 @@ constexpr auto potMotors = frozen::make_unordered_map({ {motorid_t::frontRightSwerve, {.adc_lo = 644, .mdeg_lo = -180 * 1000, .adc_hi = 1404, .mdeg_hi = 180 * 1000}}, {motorid_t::rearLeftSwerve, - {.adc_lo = 1907, .mdeg_lo = -180 * 1000, .adc_hi = 1133, .mdeg_hi = 180 * 1000}}, + {.adc_lo = 1260, .mdeg_lo = -180 * 1000, .adc_hi = 476, .mdeg_hi = 180 * 1000}}, {motorid_t::rearRightSwerve, {.adc_lo = 1538, .mdeg_lo = -180 * 1000, .adc_hi = 767, .mdeg_hi = 180 * 1000}}, }); @@ -117,7 +117,7 @@ constexpr auto motorPIDMap = frozen::make_unordered_map( {motorid_t::elbow, {15, 7, -2}}, {motorid_t::frontLeftSwerve, {2, 0, 0}}, {motorid_t::frontRightSwerve, {2, 0, 0}}, - {motorid_t::rearLeftSwerve, {0, 0, 0}}, + {motorid_t::rearLeftSwerve, {2, 0, 0}}, {motorid_t::rearRightSwerve, {2, 0, 0}}}); /**