From 2c97fadd0ccf23bbac23ab4a40db917e0c08ad47 Mon Sep 17 00:00:00 2001 From: Aleah H Date: Mon, 19 Feb 2024 13:10:19 -0800 Subject: [PATCH] Add New Swerve Offsets (Comp Bot) --- src/main/java/frc/robot/Constants.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index f43ed3b..63443de 100644 --- 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: