tune robot at Bellarmine

team581 · Nov 8, 2023 · 0c426d4 · 0c426d4
1 parent d29c0b8
commit 0c426d4
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Showing 5 changed files with 10 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -170,7 +170,7 @@ private void configureButtonBindings() {
     // driveController.leftStick();
     // driveController.rightStick();
     driveController.leftTrigger(0.3).onTrue(superstructure.getIntakeFloorCommand());
-    driveController.leftBumper().onTrue(superstructure.getIntakeShelfCommand());
+    // driveController.leftBumper().onTrue(superstructure.getIntakeShelfCommand());
     driveController.rightTrigger(0.3).onTrue(superstructure.getScoreFinishCommand());
     driveController.rightBumper().onTrue(superstructure.getIntakeSingleSubstationCommand());
     driveController.back().onTrue(imu.getZeroCommand());

diff --git a/src/main/java/frc/robot/config/Config.java b/src/main/java/frc/robot/config/Config.java
@@ -62,7 +62,7 @@ public class Config {
   public static final boolean SWERVE_MOTOR_LIMITS_ENABLED = true;
   public static final PIDConstants SWERVE_TRANSLATION_PID = new PIDConstants(2.5, 0, 0);
   public static final PIDConstants SWERVE_ROTATION_PID = new PIDConstants(4.5, 0, 0.1);
-  public static final PIDConstants SWERVE_ROTATION_SNAP_PID = new PIDConstants(7.5, 0, 0.5);
+  public static final PIDConstants SWERVE_ROTATION_SNAP_PID = new PIDConstants(7.5, 0, 1);
   public static final boolean SWERVE_USE_FOC = true;
 
   public static final int SWERVE_FL_DRIVE_MOTOR_ID = 2;

diff --git a/src/main/java/frc/robot/managers/superstructure/Positions.java b/src/main/java/frc/robot/managers/superstructure/Positions.java
@@ -29,16 +29,16 @@ public class Positions {
   public static final SuperstructurePosition INTAKING_CONE_SHELF =
       new SuperstructurePosition(Rotation2d.fromDegrees(90), Rotation2d.fromDegrees(180));
   public static final SuperstructurePosition INTAKING_CONE_SINGLE_SUBSTATION =
-      new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(30));
+      new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(42));
 
   public static final SuperstructurePosition CONE_NODE_LOW_FRONT =
       new SuperstructurePosition(Rotation2d.fromDegrees(-19), Rotation2d.fromDegrees(-118.6));
   public static final SuperstructurePosition CONE_NODE_LOW_BACK =
       new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(89));
   public static final SuperstructurePosition CONE_NODE_MID =
-      new SuperstructurePosition(Rotation2d.fromDegrees(125), Rotation2d.fromDegrees(-92));
+      new SuperstructurePosition(Rotation2d.fromDegrees(125), Rotation2d.fromDegrees(-90));
   public static final SuperstructurePosition CONE_NODE_HIGH =
-      new SuperstructurePosition(Rotation2d.fromDegrees(110), Rotation2d.fromDegrees(145));
+      new SuperstructurePosition(Rotation2d.fromDegrees(130), Rotation2d.fromDegrees(-132));
   public static final SuperstructurePosition YEET_CONE =
       new SuperstructurePosition(Rotation2d.fromDegrees(50), Rotation2d.fromDegrees(135));
 

diff --git a/src/main/java/frc/robot/swerve/SwerveModule.java b/src/main/java/frc/robot/swerve/SwerveModule.java
@@ -83,9 +83,9 @@ public SwerveModule(
     driveMotorConfigs.Voltage.PeakForwardVoltage = 12;
     driveMotorConfigs.Voltage.PeakReverseVoltage = -12;
 
-    CurrentLimitsConfigs currentLimits = new CurrentLimitsConfigs();
-    currentLimits.SupplyCurrentLimit = 35;
-    currentLimits.SupplyCurrentLimitEnable = true;
+    driveMotorConfigs.CurrentLimits.SupplyCurrentLimit = 15;
+    driveMotorConfigs.CurrentLimits.SupplyCurrentLimitEnable = true;
+    driveMotorConfigs.CurrentLimits.StatorCurrentLimitEnable = false;
 
     if (constants.driveInversion) {
       driveMotorConfigs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
@@ -121,7 +121,7 @@ public SwerveModule(
     steerMotorPID.setPositionPIDWrappingMinInput(0.0);
     steerMotorPID.setPositionPIDWrappingMaxInput(1.0);
 
-    steerMotor.setSmartCurrentLimit(35);
+    steerMotor.setSmartCurrentLimit(15);
 
     steerMotor.setInverted(constants.angleInversion);
 

diff --git a/src/main/java/frc/robot/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/swerve/SwerveSubsystem.java
@@ -39,7 +39,7 @@ public class SwerveSubsystem extends LifecycleSubsystem {
           FRONT_LEFT_LOCATION, FRONT_RIGHT_LOCATION, BACK_LEFT_LOCATION, BACK_RIGHT_LOCATION);
   public static final double MAX_VELOCITY =
       ((6080.0 / 60.0) / Config.SWERVE_DRIVE_GEARING_REDUCTION) * (Config.WHEEL_DIAMETER * Math.PI);
-  public static final double MAX_ANGULAR_VELOCITY = 20;
+  public static final double MAX_ANGULAR_VELOCITY = 15;
 
   private final ImuSubsystem imu;
   private final SwerveModule frontRight;