Made some changes

FRC-7525 · Feb 8, 2025 · 70f505c · 70f505c
1 parent 10b760e
commit 70f505c
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Showing 7 changed files with 13 additions and 14 deletions.
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
@@ -3,14 +3,13 @@
     "front": 10.171,
     "left": -13.878
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 74.267578125,
   "drive": {
     "type": "sparkmax_neo",
     "id": 2,
     "canbus": null
   },
   "angle": {
-
     "type": "sparkmax_neo",
     "id": 10,
     "canbus": null
@@ -22,7 +21,7 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   },
   "absoluteEncoderInverted": false
 }
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -10.635,
     "left": -12.796
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 256.5527,
   "drive": {
     "type": "sparkmax_neo",
     "id": 35,
@@ -21,7 +21,7 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   },
   "absoluteEncoderInverted": false
 }
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 10.822,
     "left": 11.331
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 132.5390625,
   "drive": {
     "type": "sparkmax_neo",
     "id": 7,
@@ -21,7 +21,7 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   },
   "absoluteEncoderInverted": false
 }
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
@@ -3,7 +3,7 @@
     "front": -10.822,
     "left": 13.793
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 132.5390562,
   "drive": {
     "type": "sparkmax_neo",
     "id": 11,
@@ -21,7 +21,7 @@
   },
   "inverted": {
     "drive": false,
-    "angle": false
+    "angle": true
   },
   "absoluteEncoderInverted": false
 }
diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json
@@ -9,7 +9,7 @@
   "angle": {
     "p": 0.01,
     "i": 0,
-    "d": 0.1,
+    "d": 0.02,
     "f": 0,
     "iz": 0
   }

diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json
@@ -6,9 +6,9 @@
   },
   "invertedIMU": false,
   "modules": [
-    "frontleft.json",
+    "backright.json", 
+    "backleft.json", 
     "frontright.json",
-    "backleft.json",
-    "backright.json"
+    "frontleft.json"
   ]
 }
diff --git a/src/main/java/frc/robot/subsystems/Drive/Drive.java b/src/main/java/frc/robot/subsystems/Drive/Drive.java
@@ -29,7 +29,7 @@ public void runState() {
 						-1 * Controllers.DRIVER_CONTROLLER.getLeftY() * MAX_SPEED.magnitude()
 					),
 					Controllers.DRIVER_CONTROLLER.getRightX(),
-					true,
+					false,
 					false
 				);
 				break;
-Original file line number
+Diff line change
@@ Expand Up / @@ -29,7 +29,7 @@ public void runState() { @@
     						-1 * Controllers.DRIVER_CONTROLLER.getLeftY() * MAX_SPEED.magnitude()
     					),
     					Controllers.DRIVER_CONTROLLER.getRightX(),
-    					true,
+    					false,
     					false
     				);
     				break;
@@ Expand Down @@