tuned, not tested

grt192 · May 2, 2023 · 44ea5e6 · 44ea5e6
1 parent 769bac7
commit 44ea5e6
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/FRC_TBD_2e1222392fcc8c02.wpilog b/FRC_TBD_2e1222392fcc8c02.wpilog
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -38,10 +38,10 @@ public static final class TankConstants {
     public static final class SwerveConstants {
         public static final double TL_OFFSET_RADS = IS_R1 
             ? -2.9255307594961444 // 0.21606189409364873 
-            : -2.4960072914785663;
+            : -1.7595665454864502;//1.382026108103343;
         public static final double TR_OFFSET_RADS = IS_R1 
             ? -1.1199431538621365 // 2.0216494997276566
-            : -0.3756485104600369; //2.7659441431297562;
+            : -0.3700309236857553;// 2.771561729904038;
         public static final double BL_OFFSET_RADS = IS_R1
             ? -2.374440566697393
             : -0.0563106973979135 ; //3.0852819561918796

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -134,8 +134,8 @@ public RobotContainer() {
 
         signalLEDSubsystem = new LEDSubsystem(); 
 
-        // driveSubsystem = new MissileShellSwerveSubsystem();
-        driveSubsystem = new SwerveSubsystem(photonWrapper, signalLEDSubsystem);
+        driveSubsystem = new MissileShellSwerveSubsystem();
+        // driveSubsystem = new SwerveSubsystem(photonWrapper, signalLEDSubsystem);
         rollerSubsystem = new RollerSubsystem();
         tiltedElevatorSubsystem = new TiltedElevatorSubsystem();
 

diff --git a/src/main/java/frc/robot/controllers/DualJoystickDriveController.java b/src/main/java/frc/robot/controllers/DualJoystickDriveController.java
@@ -119,7 +119,7 @@ public boolean approachShelf() {
      */
     private double getDriveScaling() {
         boolean isSlowMode = leftJoystick.getTrigger();
-        return isSlowMode ? 0.24 : 1.0;
+        return isSlowMode ? 0.3 : 1.0;
     }
 
     /**

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/MissileShellSwerveSubsystem.java b/src/main/java/frc/robot/subsystems/drivetrain/MissileShellSwerveSubsystem.java
@@ -27,10 +27,10 @@ public class MissileShellSwerveSubsystem extends BaseDrivetrain {
     };
 
     public MissileShellSwerveSubsystem() {
-        module = new SwerveModule.BottomLeft(
-            SwerveConstants.BL_DRIVE,
-            SwerveConstants.BL_STEER,
-            SwerveConstants.BL_OFFSET_RADS
+        module = new SwerveModule.TopRight(
+            SwerveConstants.TR_DRIVE,
+            SwerveConstants.TR_STEER,
+            SwerveConstants.TR_OFFSET_RADS
         );
 
         // module.setSteerRelativeFeedback(true);