Small changes

RegisJesuitRobotics · Feb 26, 2024 · 448ae2a · 448ae2a
1 parent 789b9d9
commit 448ae2a
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -133,8 +133,16 @@ private SwerveConstants() {}
 
     public static final TunablePIDGains STEER_POSITION_PID_GAINS =
         new TunablePIDGains("/gains/steer", 7.207, 0.0, 0.002, MiscConstants.TUNING_MODE);
+    // Radians per rotation
+    private static final double STEER_CONVERSION = (2 * Math.PI);
+    // Volts/(Radian/Second) to Volts/(Rotation/Second)
     public static final TunableFFGains STEER_VELOCITY_FF_GAINS =
-        new TunableFFGains("/gains/steer", 0.0, 0.0, 0.0, MiscConstants.TUNING_MODE);
+        new TunableFFGains(
+            "/gains/steer",
+            0.0 * STEER_CONVERSION,
+            0.0 * STEER_CONVERSION,
+            0.0 * STEER_CONVERSION,
+            MiscConstants.TUNING_MODE);
 
     // Left right distance between center of wheels
     public static final double TRACKWIDTH_METERS = Units.inchesToMeters(22.75);

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java b/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java
@@ -420,7 +420,7 @@ private void setSteerReference(double targetAngleRadians, boolean activeSteer) {
 
     if (activeSteer) {
       steerMotor.setControl(
-          steerMotionMagicExpoVoltage.withPosition(Units.radiansToRotations(targetAngleRadians)));
+          steerMotionMagicExpoVoltage.withPosition(targetAngleRadians * steerConversion));
     } else {
       steerMotor.setVoltage(0.0);
     }