Alvin/swerve fix2 (#41)

flamingchickens1540 · Oct 4, 2023 · 1b86379 · 1b86379
1 parent c28a0d5
commit 1b86379
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Showing 5 changed files with 9 additions and 8 deletions.
diff --git a/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path b/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path
@@ -24,15 +24,15 @@
     },
     {
       "anchorPoint": {
-        "x": 6.654269729684945,
+        "x": 6.55,
         "y": 4.576056676374828
       },
       "prevControl": {
-        "x": 5.805178456479655,
+        "x": 5.70090872679471,
         "y": 4.597962915155529
       },
       "nextControl": {
-        "x": 5.805178456479655,
+        "x": 5.70090872679471,
         "y": 4.597962915155529
       },
       "holonomicAngle": 180.0,

diff --git a/src/main/java/org/team1540/robot2023/Constants.java b/src/main/java/org/team1540/robot2023/Constants.java
@@ -152,7 +152,7 @@ public static final class Swerve {
         /* Module Specific Constants */
         /* Front Left Module - Module 0 */
         public static final class Mod0 {
-            private static final int moduleID = 4;
+            private static final int moduleID = 1; //4
             public static final SwerveModuleConstants constants = new SwerveModuleConstants(moduleID, ModuleCorner.FRONT_LEFT);
         }
 
@@ -171,7 +171,7 @@ public static final class Mod2 {
 
         /* Back Right Module - Module 3 */
         public static final class Mod3 {
-            private static final int moduleID = 2;
+            private static final int moduleID = 5;
             public static final SwerveModuleConstants constants = new SwerveModuleConstants(moduleID, ModuleCorner.REAR_RIGHT);
         }
     }

diff --git a/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java b/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java
@@ -127,6 +127,7 @@ public void execute() {
             if(limelight.getTa() != 0 && limelight.getTclass().equals(gamepiece.identifier)){
                 System.out.println("SEEING GAME PIECE "); 
                 angleXOffset = limelight.getTx() - limelight.getTa() * -0.9;
+
                 double gyroAngle = angleSupplier.getAsDouble();
                 pid.setSetpoint(gyroAngle + angleXOffset);//*-0.698-2.99);  //16 (very sketchy constant) + angleOffset for back camera
                 SmartDashboard.putBoolean("pointToTarget/turningWithLimelight", true);

diff --git a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java
@@ -6,10 +6,10 @@
  * Represents a corner of the robot. Used for calculating encoder offsets
  */
 public enum ModuleCorner {
-    FRONT_LEFT(0, "Front Left"),
+    FRONT_LEFT(90, "Front Left"),
     FRONT_RIGHT(90, "Front Right"),
     REAR_LEFT(180, "Rear Left"),
-    REAR_RIGHT(270, "Rear Right");
+    REAR_RIGHT(90, "Rear Right");
     private final double offset;
     public final String label;
     ModuleCorner(double offset, String label) {

diff --git a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java
@@ -6,7 +6,7 @@
  */
 public class ModuleMagnetOffset {
     private static final double[] offsets = new double[]{
-            150.469, // Module 1
+            75.469, // Module 1
             91.318,  // Module 2
             256.729, // Module 3
             9.0,     // Module 4