Revert to old offsets

Ocebots · Nov 17, 2023 · e072b88 · e072b88
1 parent f0c4b02
commit e072b88
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/constants/DriveConstants.java b/src/main/java/frc/constants/DriveConstants.java
@@ -31,10 +31,10 @@ public class DriveConstants {
           new Translation2d(-WHEEL_BASE_METERS / 2, -TRACK_WIDTH_METERS / 2));
 
   // Angular offsets of the modules relative to the chassis in radians
-  public static final double FRONT_LEFT_CHASSIS_ANGULAR_OFFSET = 0;
+  public static final double FRONT_LEFT_CHASSIS_ANGULAR_OFFSET = -Math.PI / 2;
   public static final double FRONT_RIGHT_CHASSIS_ANGULAR_OFFSET = 0;
-  public static final double BACK_LEFT_CHASSIS_ANGULAR_OFFSET = 0;
-  public static final double BACK_RIGHT_CHASSIS_ANGULAR_OFFSET = 0;
+  public static final double BACK_LEFT_CHASSIS_ANGULAR_OFFSET = Math.PI;
+  public static final double BACK_RIGHT_CHASSIS_ANGULAR_OFFSET = Math.PI / 2;
 
   public static final boolean GYRO_IS_REVERSED = false;
   public static final double FREE_SPEED_RPM = 5676;

diff --git a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
@@ -180,7 +180,7 @@ public void resetEncoders() {
     this.drivingEncoder.setPosition(0);
   }
 
-  public void sendData(String name) {
+  public void sendData(String name) { // TODO: Make the error output easier to understand
     SmartDashboard.putNumber(
         name + ": Turn error",
         this.getDesiredState().angle.getDegrees() - this.getState().angle.getDegrees());