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Castor2026
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Update CAN IDs

This commit is contained in:
Mike Silva 2026-02-28 16:26:03 -05:00
parent defa76eae0
commit 98474a4125
1 changed files with 166 additions and 166 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(-0.338623)
.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(0.110840)
.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(-0.496582)
.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(0.463379)
.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)