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Possible Fix for swerve drive

This commit is contained in:
Tyler Wilcox 2026-01-30 20:04:33 -05:00
parent 51cd3df642
commit 8defb590f4
1 changed files with 4 additions and 3 deletions
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7
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
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@ -41,7 +41,6 @@ public class SwerveModule {
private VelocityVoltage driveRequest = new VelocityVoltage(0); private VelocityVoltage driveRequest = new VelocityVoltage(0);
private TalonFX steerMotor; private TalonFX steerMotor;
private MotionMagicVoltage steerRequest = new MotionMagicVoltage(0); private MotionMagicVoltage steerRequest = new MotionMagicVoltage(0);
private PositionVoltage steerPosRequ = new PositionVoltage(0);
private CANcoder steerEncoder; private CANcoder steerEncoder;
private String moduleName; private String moduleName;
@ -152,7 +151,6 @@ public class SwerveModule {
} }
public void periodic(){ public void periodic(){
SmartDashboard.putNumber(moduleName + " steerReq", steerPosRequ.Position);
SmartDashboard.putNumber(moduleName + " steerPow", steerMotor.getClosedLoopOutput().getValueAsDouble()); SmartDashboard.putNumber(moduleName + " steerPow", steerMotor.getClosedLoopOutput().getValueAsDouble());
SmartDashboard.putNumber(moduleName + " steer error", steerMotor.getClosedLoopError().getValueAsDouble()); SmartDashboard.putNumber(moduleName + " steer error", steerMotor.getClosedLoopError().getValueAsDouble());
SmartDashboard.putNumber(moduleName + " steer setpoint", steerMotor.getClosedLoopReference().getValueAsDouble()); SmartDashboard.putNumber(moduleName + " steer setpoint", steerMotor.getClosedLoopReference().getValueAsDouble());
@ -207,6 +205,9 @@ public class SwerveModule {
).withClosedLoopGeneral( ).withClosedLoopGeneral(
new ClosedLoopGeneralConfigs() new ClosedLoopGeneralConfigs()
.withContinuousWrap(true) .withContinuousWrap(true)
).withMotorOutput(
new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive)
); );
} }
@ -214,7 +215,7 @@ public class SwerveModule {
return new CANcoderConfiguration().withMagnetSensor( return new CANcoderConfiguration().withMagnetSensor(
new MagnetSensorConfigs() new MagnetSensorConfigs()
.withMagnetOffset(-steerOffset) .withMagnetOffset(-steerOffset)
.withSensorDirection(SensorDirectionValue.Clockwise_Positive) .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive)
.withAbsoluteSensorDiscontinuityPoint(0.5) .withAbsoluteSensorDiscontinuityPoint(0.5)
); );
} }