Lower Sampling Frequencies

Team-501-The-PowerKnights · Feb 16, 2024 · da0a72e · da0a72e
1 parent 060cb38
commit da0a72e
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -24,7 +24,7 @@
 
 public class Module {
   private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0);
-  static final double ODOMETRY_FREQUENCY = 200.0;
+  static final double ODOMETRY_FREQUENCY = 150.0; // STU:
 
   private final ModuleIO io;
   private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -109,7 +109,7 @@ public ModuleIOSparkMax(int index) {
     turnSparkMax.enableVoltageCompensation(12.0);
 
     driveEncoder.setPosition(0.0);
-    driveEncoder.setMeasurementPeriod(10);
+    driveEncoder.setMeasurementPeriod(15);
     driveEncoder.setAverageDepth(2);
 
     turnRelativeEncoder.setPosition(0.0);
@@ -162,6 +162,8 @@ public void updateInputs(ModuleIOInputs inputs) {
         "turnAbsolutePosition[" + m_index + "]", inputs.turnAbsolutePosition.getDegrees());
     inputs.turnPosition =
         Rotation2d.fromRotations(turnRelativeEncoder.getPosition() / TURN_GEAR_RATIO);
+    SmartDashboard.putNumber(
+        "turnRelativePosition[" + m_index + "]", inputs.turnPosition.getDegrees());
     inputs.turnVelocityRadPerSec =
         Units.rotationsPerMinuteToRadiansPerSecond(turnRelativeEncoder.getVelocity())
             / TURN_GEAR_RATIO;