Merge pull request #127 from robo7660/Week-2-2024-Tuning

Small fixes from tuning swerve
FRC7660 · Mar 7, 2024 · 7ef08fa · 7ef08fa
2 parents 044ed2b + 3e5a784
commit 7ef08fa
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Showing 10 changed files with 14 additions and 14 deletions.
diff --git a/src/main/deploy/swerves/KrakenSwerve/controllerproperties.json b/src/main/deploy/swerves/KrakenSwerve/controllerproperties.json
@@ -2,7 +2,7 @@
   "angleJoystickRadiusDeadband": 0.5,
   "heading": {
     "p": 0.4,
-    "i": 0,
+    "i": 0.1,
     "d": 0.01
   }
 }
diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/backright.json b/src/main/deploy/swerves/KrakenSwerve/modules/backright.json
@@ -18,7 +18,7 @@
     "drive": true,
     "angle": false
   },
-  "absoluteEncoderOffset": 163,
+  "absoluteEncoderOffset": 164,
   "location": {
     "front": -13,
     "left": -13

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/frontleft.json b/src/main/deploy/swerves/KrakenSwerve/modules/frontleft.json
@@ -18,7 +18,7 @@
     "drive": true,
     "angle": false
   },
-  "absoluteEncoderOffset": 330,
+  "absoluteEncoderOffset": 135,
   "location": {
     "front": 13,
     "left": 13

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/frontright.json b/src/main/deploy/swerves/KrakenSwerve/modules/frontright.json
@@ -18,7 +18,7 @@
     "drive": true,
     "angle": false
   },
-  "absoluteEncoderOffset": 18,
+  "absoluteEncoderOffset": 58,
   "location": {
     "front": 13,
     "left": -13

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json b/src/main/deploy/swerves/KrakenSwerve/modules/physicalproperties.json
@@ -5,7 +5,7 @@
   },
   "currentLimit": {
     "drive": 70,
-    "angle": 60
+    "angle": 40
   },
   "rampRate": {
     "drive": 0.05,

diff --git a/src/main/deploy/swerves/KrakenSwerve/modules/pidfproperties.json b/src/main/deploy/swerves/KrakenSwerve/modules/pidfproperties.json
@@ -1,13 +1,13 @@
 {
   "drive": {
     "p": 1,
-    "i": 0.01,
+    "i": 0.1,
     "d": 0,
     "f": 0,
     "iz": 0
   },
   "angle": {
-    "p": 0.004,
+    "p": 0.1,
     "i": 0,
     "d": 1.5,
     "f": 0,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -100,7 +100,7 @@ public RobotContainer() {
             () -> driverLeft.getAsBoolean(),
             () -> driverRight.getAsBoolean());
 
-    m_swerve.setDefaultCommand(!RobotBase.isSimulation() ? advancedDrive : advancedDrive);
+    m_swerve.setDefaultCommand(!RobotBase.isSimulation() ? closedAbsoluteDrive : advancedDrive);
 
     // -m_index.setDefaultCommand(m_index.manualIntake(coDriver::getRightY));
 

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -59,7 +59,7 @@ public void stop() {
   }
 
   public boolean isRunning() {
-    return !(motorLeft.get() == 0);
+    return !(targetSpeed == 0);
   }
 
   @Override

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.4",
+    "version": "2024.2.5",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.4"
+            "version": "2024.2.5"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.4",
+            "version": "2024.2.5",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/yagsl.json b/vendordeps/yagsl.json
@@ -1,7 +1,7 @@
 {
     "fileName": "yagsl.json",
     "name": "YAGSL",
-    "version": "2024.4.8.5",
+    "version": "2024.4.8.6",
     "frcYear": "2024",
     "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "swervelib",
             "artifactId": "YAGSL-java",
-            "version": "2024.4.8.5"
+            "version": "2024.4.8.6"
         }
     ],
     "jniDependencies": [],