fix module offsets to make seedFieldRelative think intake side is the…

… front
StuyPulse · Aug 2, 2024 · 0661322 · 0661322
1 parent 5e8516a
commit 0661322
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -251,31 +251,31 @@ public interface Drive {
         }
 
         public interface FrontRight {
-            boolean DRIVE_INVERTED = false;
+            boolean DRIVE_INVERTED = true;
             String ID = "Front Right";
             Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromRotations(0.1318359375);
-            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * +0.5, WIDTH * -0.5);
+            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * -0.5, WIDTH * +0.5);
         }
 
         public interface FrontLeft {
-            boolean DRIVE_INVERTED = true;
+            boolean DRIVE_INVERTED = false;
             String ID = "Front Left";
             Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromRotations(0.052734375);
-            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * +0.5, WIDTH * +0.5);
+            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * -0.5, WIDTH * -0.5);
         }
 
         public interface BackLeft {
-            boolean DRIVE_INVERTED = true;
+            boolean DRIVE_INVERTED = false;
             String ID = "Back Left";
             Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromRotations(0.33154296875);
-            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * -0.5, WIDTH * +0.5);
+            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * +0.5, WIDTH * -0.5);
         }
 
         public interface BackRight {
-            boolean DRIVE_INVERTED = true;
+            boolean DRIVE_INVERTED = false;
             String ID = "Back Right";
             Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromRotations(0.192138671875 + 0.5);
-            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * -0.5, WIDTH * -0.5);
+            Translation2d MODULE_OFFSET = new Translation2d(LENGTH * +0.5, WIDTH * +0.5);
         }
 
         public interface Simulation {