Add New Swerve Offsets (Comp Bot)

redshiftrobotics · Feb 19, 2024 · 2c97fad · 2c97fad
1 parent 1411991
commit 2c97fad
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -118,25 +118,25 @@ public static class SwerveModuleConstants {
 					VELOCITY_MOTOR_ID_FL = 2;
 					ANGULAR_MOTOR_ID_FL = 3;
 					ANGULAR_MOTOR_ENCODER_ID_FL = 3;
-					ANGULAR_MOTOR_ENCODER_OFFSET_FL = -0.256015325670498;
+					ANGULAR_MOTOR_ENCODER_OFFSET_FL = -0.364013671875;
 
 					// Front right
 					VELOCITY_MOTOR_ID_FR = 16;
 					ANGULAR_MOTOR_ID_FR = 17;
-					ANGULAR_MOTOR_ENCODER_ID_FR = 2;
-					ANGULAR_MOTOR_ENCODER_OFFSET_FR = -0.248045977011494;
+					ANGULAR_MOTOR_ENCODER_ID_FR = 4;
+					ANGULAR_MOTOR_ENCODER_OFFSET_FR = -0.42114257812;
 
 					// Back left
 					VELOCITY_MOTOR_ID_BL = 8;
 					ANGULAR_MOTOR_ID_BL = 9;
-					ANGULAR_MOTOR_ENCODER_ID_BL = 4;
-					ANGULAR_MOTOR_ENCODER_OFFSET_BL = -0.894674329501916;
+					ANGULAR_MOTOR_ENCODER_ID_BL = 2;
+					ANGULAR_MOTOR_ENCODER_OFFSET_BL = -0.634033203125;
 
 					// Back right
 					VELOCITY_MOTOR_ID_BR = 10;
 					ANGULAR_MOTOR_ID_BR = 11;
 					ANGULAR_MOTOR_ENCODER_ID_BR = 1;
-					ANGULAR_MOTOR_ENCODER_OFFSET_BR = -0.530498084291188;
+					ANGULAR_MOTOR_ENCODER_OFFSET_BR = -0.54736328125;
 					break;
 
 				// case COMPETITION_BOT: