FairportRobotics
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Castor2026
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It's working

This commit is contained in:
Tyler Wilcox 2026-01-31 14:03:47 -05:00
parent 568d3b0bf8
commit 319e85b39b
3 changed files with 8 additions and 10 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit 817515901ca237b9f47e2001f7d65f9e38249eb1
Subproject commit 61fcb90730f6f65a8340388702e2b6ce51944da3

2
src/main/java/frc/robot/Robot.java
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@ -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;

14
src/main/java/frc/robot/subsystems/DriveSubsystem.java
View File

@ -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")