changed angle gear ratio and angle offsets

Frc5572 · Dec 6, 2024 · 1f981bf · 1f981bf
1 parent 35efb88
commit 1f981bf
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Showing 4 changed files with 50 additions and 12 deletions.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleIO.java b/src/main/java/frc/lib/util/swerve/SwerveModuleIO.java
@@ -16,18 +16,18 @@ public static class SwerveModuleInputs {
         // public double angleMotorTemp;
     }
 
-    public default void setModNumber(int number) {}
+    public void setModNumber(int number);
 
-    public default void updateInputs(SwerveModuleInputs inputs) {}
+    public void updateInputs(SwerveModuleInputs inputs);
 
-    public default void setDriveMotor(double mps) {}
+    public void setDriveMotor(double mps);
 
-    public default void setDriveMotorPower(double power) {}
+    public void setDriveMotorPower(double power);
 
-    public default void setAngleMotor(double angle) {}
+    public void setAngleMotor(double angle);
 
-    public default void setAngleSelectedSensorPosition(double angle) {}
+    public void setAngleSelectedSensorPosition(double angle);
 
-    public default void setPositionAngleMotor(double absolutePosition) {}
+    public void setPositionAngleMotor(double absolutePosition);
 
 }
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java b/src/main/java/frc/lib/util/swerve/SwerveModuleReal.java
@@ -158,4 +158,23 @@ public void setPositionAngleMotor(double absolutePosition) {
         mAngleMotor.setPosition(absolutePosition);
     }
 
+    @Override
+    public void setModNumber(int number) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setModNumber'");
+    }
+
+    @Override
+    public void setDriveMotorPower(double power) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setDriveMotorPower'");
+    }
+
+    @Override
+    public void setAngleSelectedSensorPosition(double angle) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException(
+            "Unimplemented method 'setAngleSelectedSensorPosition'");
+    }
+
 }
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java b/src/main/java/frc/lib/util/swerve/SwerveModuleSim.java
@@ -89,4 +89,23 @@ public void setDriveVoltage(double volts) {
         driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
         driveSim.setInputVoltage(driveAppliedVolts);
     }
+
+    @Override
+    public void setDriveMotorPower(double power) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setDriveMotorPower'");
+    }
+
+    @Override
+    public void setAngleSelectedSensorPosition(double angle) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException(
+            "Unimplemented method 'setAngleSelectedSensorPosition'");
+    }
+
+    @Override
+    public void setPositionAngleMotor(double absolutePosition) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setPositionAngleMotor'");
+    }
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -212,7 +212,7 @@ public static final class Swerve {
 
         /* Module Gear Ratios */
         public static final double driveGearRatio = (8.14 / 1.0); // MK4i L1
-        public static final double angleGearRatio = ((150.0 / 7.0) / 1.0); // (150 / 7) : 1
+        public static final double angleGearRatio = (12.8 / 1.0); // (150 / 7) : 1
 
         /* Motor Inverts */
         public static final InvertedValue angleMotorInvert = InvertedValue.Clockwise_Positive;
@@ -278,7 +278,7 @@ public static final class Mod0 {
             public static final int angleMotorID = 6;
             public static final int canCoderID = 4;
             // public static final Rotation2d angleOffset = Rotation2d.fromDegrees(183.955078125);
-            public static final Rotation2d angleOffset = Rotation2d.fromRotations(0.376953 + 0.5);
+            public static final Rotation2d angleOffset = Rotation2d.fromRotations(0.376221 + 0.75);
 
         }
 
@@ -290,7 +290,7 @@ public static final class Mod1 {
             public static final int angleMotorID = 5;
             public static final int canCoderID = 3;
             // public static final Rotation2d angleOffset = Rotation2d.fromDegrees(325.01953125);
-            public static final Rotation2d angleOffset = Rotation2d.fromRotations(-0.357178);
+            public static final Rotation2d angleOffset = Rotation2d.fromRotations(-0.355957 + 0.25);
 
         }
 
@@ -302,7 +302,7 @@ public static final class Mod2 {
             public static final int angleMotorID = 7;
             public static final int canCoderID = 2;
             // public static final Rotation2d angleOffset = Rotation2d.fromDegrees(124.62890625);
-            public static final Rotation2d angleOffset = Rotation2d.fromRotations(0.278809);
+            public static final Rotation2d angleOffset = Rotation2d.fromRotations(-0.223145 + 0.75);
 
         }
 
@@ -314,7 +314,7 @@ public static final class Mod3 {
             public static final int angleMotorID = 8;
             public static final int canCoderID = 1;
             // public static final Rotation2d angleOffset = Rotation2d.fromDegrees(295.400390625);
-            public static final Rotation2d angleOffset = Rotation2d.fromRotations(-0.409180 + 0.5);
+            public static final Rotation2d angleOffset = Rotation2d.fromRotations(0.095459 + 0.25);
         }
 
         public static final HolonomicPathFollowerConfig pathFollowerConfig =