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Castor2026
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Enter brake mode for swerve when robot disables

This commit is contained in:
Tyler Wilcox 2026-04-11 14:07:58 -04:00
parent c0900490a9
commit dc2f483c7d
3 changed files with 8 additions and 2 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit cd9dee709893a27de40fb86e441223dd4c068b12 Subproject commit 191af3083de1139f70fb3496b77f299b9a7e98a8

6
src/main/java/frc/robot/Robot.java
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@ -14,6 +14,8 @@ import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher; import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGWriter; import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import com.ctre.phoenix6.swerve.SwerveModule;
import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
@ -90,6 +92,9 @@ public class Robot extends LoggedRobot {
// Run all POST tests after robot has been initialized // Run all POST tests after robot has been initialized
PostyManager.getInstance().runAllPOSTs(); PostyManager.getInstance().runAllPOSTs();
m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(false);
} }
/** /**
@ -117,6 +122,7 @@ public class Robot extends LoggedRobot {
/** This function is called once each time the robot enters Disabled mode. */ /** This function is called once each time the robot enters Disabled mode. */
@Override @Override
public void disabledInit() { public void disabledInit() {
m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(true);
} }
@Override @Override

2
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -36,7 +36,7 @@ public class DriveSubsystem extends TestableSubsystem {
private SendableChooser<Command> autoChooser; private SendableChooser<Command> autoChooser;
private SwerveBuilder swerveBuilder = new SwerveBuilder(); private SwerveBuilder swerveBuilder = new SwerveBuilder();
private SwerveDriveSystem driveSystem; public SwerveDriveSystem driveSystem;
private double driveP = 0.1; private double driveP = 0.1;
private double driveI = 0.0; private double driveI = 0.0;