fix yagsl config files

Armada2508 · Jan 15, 2025 · d59674a · d59674a
1 parent 7902b09
commit d59674a
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Showing 4 changed files with 12 additions and 65 deletions.
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
@@ -1,5 +1,5 @@
 {
-  "angleJoystickRadiusDeadband": 0.5,
+  "angleJoystickRadiusDeadband": 0,
   "heading": {
     "p": 0,
     "i": 0,

diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -1,13 +1,21 @@
 {
   "optimalVoltage": 12,
+  "robotMass": 115,
   "wheelGripCoefficientOfFriction": 1.19,
   "currentLimit": {
     "drive": 40,
     "angle": 20
   },
-  "conversionFactor": {
-    "angle": 0,
-    "drive": 0
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 41.25,
+      "factor": 0
+    },
+    "drive": {
+      "diameter": 3,
+      "gearRatio": 4.4,
+      "factor": 0
+    }
   },
   "rampRate": {
     "drive": 0.25,

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -5,10 +5,8 @@
 package frc.robot;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -20,7 +18,6 @@ public class Robot extends TimedRobot {
 
     private final Swerve swerve = new Swerve();
     private final CommandXboxController xboxController = new CommandXboxController(ControllerK.xboxPort);
-    private Field2d reefTest = new Field2d();
 
     public Robot() {
         DriverStation.silenceJoystickConnectionWarning(true);
@@ -32,10 +29,6 @@ public Robot() {
             false
         );
         swerve.setDefaultCommand(driveFieldOrientedAngularVelocity);
-
-        Pose2d robotPose = swerve.getPose();
-        reefTest.getObject("Robot Pose").setPose(robotPose);
-
     }
 
     private void configureBindings() {