From 55bfc1449375457f7ee75b0628d49442c84e294d Mon Sep 17 00:00:00 2001 From: Hayden Heroux Date: Tue, 19 Mar 2024 18:57:01 -0400 Subject: [PATCH] fix(swerve); Rezero modules. --- src/main/java/frc/robot/swerve/SwerveConstants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/swerve/SwerveConstants.java b/src/main/java/frc/robot/swerve/SwerveConstants.java index c3c25f2..a43d4f8 100644 --- a/src/main/java/frc/robot/swerve/SwerveConstants.java +++ b/src/main/java/frc/robot/swerve/SwerveConstants.java @@ -67,28 +67,28 @@ public static class MK4iConstants { new SwerveModuleConfig( new SwerveModuleCAN(11, 10, 12, SWERVE_BUS), new Translation2d(X_OFFSET, Y_OFFSET), - Rotation2d.fromRotations(-0.027100)); + Rotation2d.fromRotations(-0.385742)); /** Module configuration for the north east swerve module. */ public static final SwerveModuleConfig NORTH_EAST_MODULE_CONFIG = new SwerveModuleConfig( new SwerveModuleCAN(2, 1, 3, SWERVE_BUS), new Translation2d(X_OFFSET, -Y_OFFSET), - Rotation2d.fromRotations(-0.429688)); + Rotation2d.fromRotations(-0.229004)); /** Module configuration for the south east swerve module. */ public static final SwerveModuleConfig SOUTH_EAST_MODULE_CONFIG = new SwerveModuleConfig( new SwerveModuleCAN(5, 4, 6, SWERVE_BUS), new Translation2d(-X_OFFSET, -Y_OFFSET), - Rotation2d.fromRotations(-0.097168)); + Rotation2d.fromRotations(-0.096436)); /** Module configuration for the south west swerve module. */ public static final SwerveModuleConfig SOUTH_WEST_MODULE_CONFIG = new SwerveModuleConfig( new SwerveModuleCAN(8, 7, 9, SWERVE_BUS), new Translation2d(-X_OFFSET, Y_OFFSET), - Rotation2d.fromRotations(-0.309814)); + Rotation2d.fromRotations(-0.448242)); /** * Calculates the maximum attainable open loop speed in meters per second.