finished tuning

grt192 · May 3, 2023 · 88038e3 · 88038e3
1 parent 44ea5e6
commit 88038e3
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -38,10 +38,10 @@ public static final class TankConstants {
     public static final class SwerveConstants {
         public static final double TL_OFFSET_RADS = IS_R1 
             ? -2.9255307594961444 // 0.21606189409364873 
-            : -1.7595665454864502;//1.382026108103343;
+            : 1.382026108103343;
         public static final double TR_OFFSET_RADS = IS_R1 
             ? -1.1199431538621365 // 2.0216494997276566
-            : -0.3700309236857553;// 2.771561729904038;
+            : 2.771561729904038;
         public static final double BL_OFFSET_RADS = IS_R1
             ? -2.374440566697393
             : -0.0563106973979135 ; //3.0852819561918796

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -128,14 +128,15 @@ public class RobotContainer {
      */
     public RobotContainer() {
         driveController = new DualJoystickDriveController();
+        // driveController = new XboxDriveController();
 
         photonWrapper = new PhotonWrapper();
         switchableCamera = new SwitchableCamera(shuffleboardTab);
 
         signalLEDSubsystem = new LEDSubsystem(); 
 
-        driveSubsystem = new MissileShellSwerveSubsystem();
-        // driveSubsystem = new SwerveSubsystem(photonWrapper, signalLEDSubsystem);
+        // driveSubsystem = new MissileShellSwerveSubsystem();
+        driveSubsystem = new SwerveSubsystem(photonWrapper, signalLEDSubsystem);
         rollerSubsystem = new RollerSubsystem();
         tiltedElevatorSubsystem = new TiltedElevatorSubsystem();