Misc

fondyfire2194 · Jan 14, 2024 · 57aaaa4 · 57aaaa4
1 parent 2285376
commit 57aaaa4
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Showing 3 changed files with 10 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -76,8 +76,8 @@ public static final class Swerve {
     public static final double maxAngularVelocity = 5.0;
 
     /* Neutral Modes */
-    public static final IdleMode angleNeutralMode = IdleMode.kCoast;
-    public static final IdleMode driveNeutralMode = IdleMode.kCoast;
+    public static final IdleMode angleNeutralMode = IdleMode.kBrake;
+    public static final IdleMode driveNeutralMode = IdleMode.kBrake;
 
     /* Motor Inverts */
     public static final boolean driveInvert = false;

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -57,6 +57,7 @@ public void drive(Translation2d translation, double rotation, boolean fieldRelat
     for (SwerveModule mod : mSwerveMods) {
       mod.setDesiredState(swerveModuleStates[mod.moduleNumber], isOpenLoop);
     }
+    SmartDashboard.putNumber("DRIVE",translation.getX());
   }
 
   /* Used by SwerveControllerCommand in Auto */

diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -103,16 +103,18 @@ private void configDriveMotor() {
     driveMotor.setIdleMode(Constants.Swerve.driveNeutralMode);
     driveEncoder.setVelocityConversionFactor(Constants.Swerve.driveConversionVelocityFactor);
     driveEncoder.setPositionConversionFactor(Constants.Swerve.driveConversionPositionFactor);
-    driveController.setP(Constants.Swerve.angleKP);
-    driveController.setI(Constants.Swerve.angleKI);
-    driveController.setD(Constants.Swerve.angleKD);
-    driveController.setFF(Constants.Swerve.angleKFF);
+    driveController.setP(Constants.Swerve.driveKP);
+    driveController.setI(Constants.Swerve.driveKI);
+    driveController.setD(Constants.Swerve.driveKD);
+    driveController.setFF(Constants.Swerve.driveKFF);
     driveMotor.enableVoltageCompensation(Constants.Swerve.voltageComp);
     driveMotor.burnFlash();
     driveEncoder.setPosition(0.0);
   }
 
   private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop) {
+
+    SmartDashboard.putNumber(String.valueOf(moduleNumber) + "SPD", desiredState.speedMetersPerSecond);
     if (isOpenLoop) {
       double percentOutput = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed;
       driveMotor.set(percentOutput);
@@ -156,6 +158,6 @@ public void periodic() {
         SmartDashboard.putNumber(String.valueOf(moduleNumber) + " cancoderAbs",
         m_turnCancoder.getAbsolutePosition().getValueAsDouble());
 
-    SmartDashboard.putNumber("PCF", Constants.Swerve.driveConversionPositionFactor);
+
   }
 }