From 319e85b39b0160cda7c0fb6ba2b76ed9522c50fa Mon Sep 17 00:00:00 2001 From: Tyler Wilcox Date: Sat, 31 Jan 2026 14:03:47 -0500 Subject: [PATCH] It's working --- lib/RoboLib | 2 +- src/main/java/frc/robot/Robot.java | 2 -- .../java/frc/robot/subsystems/DriveSubsystem.java | 14 +++++++------- 3 files changed, 8 insertions(+), 10 deletions(-) diff --git a/lib/RoboLib b/lib/RoboLib index 8175159..61fcb90 160000 --- a/lib/RoboLib +++ b/lib/RoboLib @@ -1 +1 @@ -Subproject commit 817515901ca237b9f47e2001f7d65f9e38249eb1 +Subproject commit 61fcb90730f6f65a8340388702e2b6ce51944da3 diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9971fa1..11ed78d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -9,11 +9,9 @@ import java.io.FileNotFoundException; import java.util.Scanner; import org.fairportrobotics.frc.posty.PostyManager; -import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.NT4Publisher; -import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; import edu.wpi.first.wpilibj.Filesystem; diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index e02055a..999ad9c 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -24,9 +24,9 @@ public class DriveSubsystem extends TestableSubsystem { private double driveD = 0.01; private double driveKV = 0.2; - private double steerP = 50; - private double steerI = 1; - private double steerD = 1; + private double steerP = 20; + private double steerI = 0; + private double steerD = 0.0; private double steerKV = 0; public DriveSubsystem(CommandXboxController xboxController) { @@ -48,7 +48,7 @@ public class DriveSubsystem extends TestableSubsystem { .withSteerKI(steerI) .withSteerKD(steerD) .withSteerKV(steerKV) - .withSteerOffset(0.048828) + .withSteerOffset(0.359375) .withSteerEncoderId(10) .withModuleLocation(new Translation2d(1, 1)) .withModuleName("Front Left") @@ -68,7 +68,7 @@ public class DriveSubsystem extends TestableSubsystem { .withSteerKI(steerI) .withSteerKD(steerD) .withSteerKV(steerKV) - .withSteerOffset(0.244875) + .withSteerOffset(0.406494) .withSteerEncoderId(1) .withModuleLocation(new Translation2d(1, -1)) .withModuleName("Front Right") @@ -87,7 +87,7 @@ public class DriveSubsystem extends TestableSubsystem { .withSteerKI(steerI) .withSteerKD(steerD) .withSteerKV(steerKV) - .withSteerOffset(0.430176) + .withSteerOffset(0.211670) .withSteerEncoderId(7) .withModuleLocation(new Translation2d(-1, 1)) .withModuleName("Back Left") @@ -107,7 +107,7 @@ public class DriveSubsystem extends TestableSubsystem { .withSteerKI(steerI) .withSteerKD(steerD) .withSteerKV(steerKV) - .withSteerOffset(0.012695) + .withSteerOffset(-0.235107) .withSteerEncoderId(4) .withModuleLocation(new Translation2d(-1, -1)) .withModuleName("Back Right")