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Correctly tuned swerves

This commit is contained in:
Lukas H 2026-03-02 18:50:31 -05:00
parent defa76eae0
commit 747fb0bc52
1 changed files with 16 additions and 16 deletions
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32
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -33,7 +33,7 @@ public class DriveSubsystem extends TestableSubsystem {
driveSystem = swerveBuilder driveSystem = swerveBuilder
.withCanbusName("Drive") .withCanbusName("Drive")
.withPigeonId(20) .withPigeonId(1)
.withMaxLinearVelocity(3.0) .withMaxLinearVelocity(3.0)
.withMaxAngularVelocity(Math.PI * 2) .withMaxAngularVelocity(Math.PI * 2)
.withSwerveModule( .withSwerveModule(
@ -43,13 +43,13 @@ public class DriveSubsystem extends TestableSubsystem {
.withDriveKI(driveI) .withDriveKI(driveI)
.withDriveKD(driveD) .withDriveKD(driveD)
.withDriveKV(driveKV) .withDriveKV(driveKV)
.withSteerMotorId(3) .withSteerMotorId(11)
.withSteerKP(steerP) .withSteerKP(steerP)
.withSteerKI(steerI) .withSteerKI(steerI)
.withSteerKD(steerD) .withSteerKD(steerD)
.withSteerKV(steerKV) .withSteerKV(steerKV)
.withSteerOffset(0.359375) .withSteerOffset(-0.336426)
.withSteerEncoderId(10) .withSteerEncoderId(13)
.withModuleLocation(new Translation2d(1, 1)) .withModuleLocation(new Translation2d(1, 1))
.withModuleName("Front Left") .withModuleName("Front Left")
.withGearRatio(8.14) .withGearRatio(8.14)
@ -57,19 +57,19 @@ public class DriveSubsystem extends TestableSubsystem {
.build()) .build())
.withSwerveModule( .withSwerveModule(
swerveBuilder.new SwerveModuleBuilder() swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(5) .withDriveMotorId(22)
.withDriveKP(driveP) .withDriveKP(driveP)
.withDriveKI(driveI) .withDriveKI(driveI)
.withDriveKD(driveD) .withDriveKD(driveD)
.withDriveKV(driveKV) .withDriveKV(driveKV)
.withDriveInverted() .withDriveInverted()
.withSteerMotorId(6) .withSteerMotorId(21)
.withSteerKP(steerP) .withSteerKP(steerP)
.withSteerKI(steerI) .withSteerKI(steerI)
.withSteerKD(steerD) .withSteerKD(steerD)
.withSteerKV(steerKV) .withSteerKV(steerKV)
.withSteerOffset(0.406494) .withSteerOffset(0.108887)
.withSteerEncoderId(1) .withSteerEncoderId(23)
.withModuleLocation(new Translation2d(1, -1)) .withModuleLocation(new Translation2d(1, -1))
.withModuleName("Front Right") .withModuleName("Front Right")
.withGearRatio(8.14) .withGearRatio(8.14)
@ -77,18 +77,18 @@ public class DriveSubsystem extends TestableSubsystem {
.build()) .build())
.withSwerveModule( .withSwerveModule(
swerveBuilder.new SwerveModuleBuilder() swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(8) .withDriveMotorId(32)
.withDriveKP(driveP) .withDriveKP(driveP)
.withDriveKI(driveI) .withDriveKI(driveI)
.withDriveKD(driveD) .withDriveKD(driveD)
.withDriveKV(driveKV) .withDriveKV(driveKV)
.withSteerMotorId(2) .withSteerMotorId(31)
.withSteerKP(steerP) .withSteerKP(steerP)
.withSteerKI(steerI) .withSteerKI(steerI)
.withSteerKD(steerD) .withSteerKD(steerD)
.withSteerKV(steerKV) .withSteerKV(steerKV)
.withSteerOffset(0.211670) .withSteerOffset(-0.492432)
.withSteerEncoderId(7) .withSteerEncoderId(33)
.withModuleLocation(new Translation2d(-1, 1)) .withModuleLocation(new Translation2d(-1, 1))
.withModuleName("Back Left") .withModuleName("Back Left")
.withGearRatio(8.14) .withGearRatio(8.14)
@ -96,19 +96,19 @@ public class DriveSubsystem extends TestableSubsystem {
.build()) .build())
.withSwerveModule( .withSwerveModule(
swerveBuilder.new SwerveModuleBuilder() swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(9) .withDriveMotorId(42)
.withDriveKP(driveP) .withDriveKP(driveP)
.withDriveKI(driveI) .withDriveKI(driveI)
.withDriveKD(driveD) .withDriveKD(driveD)
.withDriveKV(driveKV) .withDriveKV(driveKV)
.withDriveInverted() .withDriveInverted()
.withSteerMotorId(11) .withSteerMotorId(41)
.withSteerKP(steerP) .withSteerKP(steerP)
.withSteerKI(steerI) .withSteerKI(steerI)
.withSteerKD(steerD) .withSteerKD(steerD)
.withSteerKV(steerKV) .withSteerKV(steerKV)
.withSteerOffset(-0.235107) .withSteerOffset(0.470215)
.withSteerEncoderId(4) .withSteerEncoderId(43)
.withModuleLocation(new Translation2d(-1, -1)) .withModuleLocation(new Translation2d(-1, -1))
.withModuleName("Back Right") .withModuleName("Back Right")
.withGearRatio(8.14) .withGearRatio(8.14)