swerve works on robot

DurhamAcademy · Sep 13, 2023 · dd6d1bc · dd6d1bc
1 parent 482ff67
commit dd6d1bc
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -70,9 +70,9 @@ public RobotContainer() throws IOException {
             case REAL:
                 battery = new BatteryIORio();
                 drive = new Drive(
+                        new ModuleIOFalcon500(FLTurnMotorId, FLDriveMotorId, false, false, FLTurnEncoderId),
                         new ModuleIOFalcon500(FRTurnMotorId, FRDriveMotorId, false, false, FRTurnEncoderId),
                         new ModuleIOFalcon500(BLTurnMotorId, BLDriveMotorId, false, false, BLTurnEncoderId),
-                        new ModuleIOFalcon500(FLTurnMotorId, FLDriveMotorId, false, false, FLTurnEncoderId),
                         new ModuleIOFalcon500(BRTurnMotorId, BRDriveMotorId, false, false, BRTurnEncoderId),
                         new GyroIOReal(gyroID, "rio"),
                         new VisionIOPhoton());

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -49,10 +49,10 @@ public class Drive extends SubsystemBase {
                     new SwerveModulePosition(0, new Rotation2d()),
                     new SwerveModulePosition(0, new Rotation2d())},
             new Pose2d());
-    private final double[] offset = new double[]{-4.414796707534875,
-            -5.833728936329093,
-            -5.522330836388308,
-            -5.927301764390117};
+    private final double[] offset = new double[]{-2.478912953223196,
+            -1.2854759002481673,
+            -2.7642333797699257,
+            -2.799514937891295};
     PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator(
             AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField(),
             PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP,