From fa116f2a8fdf047292633823f1cefee0caf9d9c8 Mon Sep 17 00:00:00 2001 From: hahahaha-julian Date: Sun, 4 Feb 2024 12:23:33 +0800 Subject: [PATCH] fix: new swerve offset --- src/main/java/net/ironpulse/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/net/ironpulse/Constants.java b/src/main/java/net/ironpulse/Constants.java index ebb0b38..78d6751 100644 --- a/src/main/java/net/ironpulse/Constants.java +++ b/src/main/java/net/ironpulse/Constants.java @@ -33,7 +33,7 @@ public static class SwerveConstants { // Swerve steering gains private static final Slot0Configs steerGains = new Slot0Configs() - .withKP(100) + .withKP(120) .withKI(0.2) .withKD(0.005) .withKS(0) @@ -117,7 +117,7 @@ public static class SwerveConstants { private static final int FRONT_LEFT_DRIVE_MOTOR_ID = 5; private static final int FRONT_LEFT_STEER_MOTOR_ID = 3; private static final int FRONT_LEFT_ENCODER_ID = 9; - private static final double FRONT_LEFT_ENCODER_OFFSET = 0.186035; + private static final double FRONT_LEFT_ENCODER_OFFSET = 0.153809; // private static final double FRONT_LEFT_ENCODER_OFFSET = 0; private static final Measure frontLeftXPos = Meters.of(0.5); @@ -127,7 +127,7 @@ public static class SwerveConstants { private static final int FRONT_RIGHT_DRIVE_MOTOR_ID = 2; private static final int FRONT_RIGHT_STEER_MOTOR_ID = 7; private static final int FRONT_RIGHT_ENCODER_ID = 21; - private static final double FRONT_RIGHT_ENCODER_OFFSET = 0.379395; + private static final double FRONT_RIGHT_ENCODER_OFFSET = 0.381592; // private static final double FRONT_RIGHT_ENCODER_OFFSET = 0; private static final Measure frontRightXPos = Meters.of(0.5); @@ -137,7 +137,7 @@ public static class SwerveConstants { private static final int BACK_LEFT_DRIVE_MOTOR_ID = 15; private static final int BACK_LEFT_STEER_MOTOR_ID = 14; private static final int BACK_LEFT_ENCODER_ID = 20; - private static final double BACK_LEFT_ENCODER_OFFSET = 0.165771; + private static final double BACK_LEFT_ENCODER_OFFSET = 0.162598; // private static final double BACK_LEFT_ENCODER_OFFSET = 0; private static final Measure backLeftXPos = Meters.of(-0.5);