swerve testing changes

grt192 · Feb 7, 2024 · 2cc0d28 · 2cc0d28
1 parent 874ed5c
commit 2cc0d28
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Showing 3 changed files with 8 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -66,7 +66,7 @@ public static class SwerveConstants {
 
     public static final int BR_DRIVE = 6; 
     public static final int BR_STEER = 7; 
-    public static final double BR_OFFSET = 2.66 + Math.PI * 3.0 / 4.0;
+    public static final double BR_OFFSET = 2.43 - Math.PI * 1 / 4;
 
     private static double MODULE_DIST = Units.inchesToMeters(27.25 / 2.0);
     public static final Translation2d FL_POS = new Translation2d(-MODULE_DIST, MODULE_DIST);

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -32,6 +32,7 @@
 import frc.robot.subsystems.elevator.ElevatorSubsystem;
 import frc.robot.subsystems.swerve.BaseSwerveSubsystem;
 import frc.robot.subsystems.swerve.SingleModuleSwerveSubsystem;
+import frc.robot.subsystems.swerve.SwerveModule;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 import frc.robot.subsystems.swerve.TestSingleModuleSwerveSubsystem;
 import frc.robot.util.ConditionalWaitCommand;
@@ -89,6 +90,7 @@ public class RobotContainer {
     //private final JoystickButton xButton = new JoystickButton(mechController, XboxController.Button.kX.value);
 
     ChoreoTrajectory traj;
+
     // private final SwerveModule module;
 
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
@@ -111,14 +113,18 @@ public RobotContainer() {
 
         // Configure the trigger bindings
         configureBindings();
+        // private final SwerveModule module;
+        //construct Test
+        // module = new SwerveModule(6, 7, 0);
+        // baseSwerveSubsystem = new TestSingleModuleSwerveSubsystem(module);
 
         camera1 = new UsbCamera("camera1", 0);
         camera1.setFPS(60);
         camera1.setBrightness(45);
         camera1.setResolution(176, 144);
         mjpgserver1 = new MjpegServer("m1", 1181);
         mjpgserver1.setSource(camera1);
-  }
+    }
 
 
   private void configureBindings() {

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
@@ -120,14 +120,6 @@ public SwerveSubsystem() {
     }
 
     public void periodic() {
-
-        // System.out.println(frontLeftModule.getDriveSetpoint());
-
-        // if (crimer.advanceIfElapsed(.1)){
-        //     //System.out.println("BR : " + backRightModule.getRawAngle());
-        //     System.out.println("BL : " + backLeftModule.getRawAngle());
-        // }
-
         FLsteer.setValue(frontLeftModule.getSteerAmpDraws());
         FLdrive.setValue(frontLeftModule.getDriveAmpDraws());