diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 2746b8b0..822ef67f 100644 --- 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 index 4bad3ee8..5bae3052 100644 --- 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();