Update to Krakens and rewire robot

src/main/deploy/swerve/modules/backleft.json

@@ -1,24 +1,24 @@
 {
   "drive": {
-    "type": "sparkmax",
-    "id": 22,
+    "type": "talonfx",
+    "id": 21,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
-    "id": 23,
+    "type": "talonfx",
+    "id": 22,
     "canbus": null
   },
   "encoder": {
     "type": "ctre_mag",
-    "id": 1,
+    "id": 2,
     "canbus": null
   },
   "inverted": {
     "drive": false,
     "angle": true
   },
-  "absoluteEncoderOffset": 289.2,
+  "absoluteEncoderOffset": 214.9,
   "location": {
     "front": -12.125,
     "left": 12.125

src/main/deploy/swerve/modules/backright.json

@@ -1,24 +1,24 @@
 {
   "drive": {
-    "type": "sparkmax",
-    "id": 24,
+    "type": "talonfx",
+    "id": 31,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
-    "id": 25,
+    "type": "talonfx",
+    "id": 32,
     "canbus": null
   },
   "encoder": {
     "type": "ctre_mag",
-    "id": 2,
+    "id": 3,
     "canbus": null
   },
   "inverted": {
     "drive": false,
     "angle": true
   },
-  "absoluteEncoderOffset": 55.05,
+  "absoluteEncoderOffset": 131.7,
   "location": {
     "front": -12.125,
     "left": -12.125

src/main/deploy/swerve/modules/frontleft.json

@@ -1,24 +1,24 @@
 {
   "drive": {
-    "type": "sparkmax",
-    "id": 20,
+    "type": "talonfx",
+    "id": 11,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
-    "id": 21,
+    "type": "talonfx",
+    "id": 12,
     "canbus": null
   },
   "encoder": {
     "type": "ctre_mag",
-    "id": 4,
+    "id": 1,
     "canbus": null
   },
   "inverted": {
     "drive": false,
     "angle": true
   },
-  "absoluteEncoderOffset": 135.5,
+  "absoluteEncoderOffset": 206.9,
   "location": {
     "front": 12.125,
     "left": 12.125

src/main/deploy/swerve/modules/frontright.json

@@ -1,24 +1,24 @@
 {
   "drive": {
-    "type": "sparkmax",
-    "id": 26,
+    "type": "talonfx",
+    "id": 1,
     "canbus": null
   },
   "angle": {
-    "type": "sparkmax",
-    "id": 27,
+    "type": "talonfx",
+    "id": 2,
     "canbus": null
   },
   "encoder": {
     "type": "ctre_mag",
-    "id": 3,
+    "id": 0,
     "canbus": null
   },
   "inverted": {
     "drive": false,
     "angle": true
   },
-  "absoluteEncoderOffset": 214.91,
+  "absoluteEncoderOffset": 144.8,
   "location": {
     "front": 12.125,
     "left": -12.125

src/main/deploy/swerve/modules/pidfproperties.json

@@ -7,7 +7,7 @@
     "iz": 0
   },
   "angle": {
-    "p": 6e-3,
+    "p": 7,
     "i": 0.00000,
     "d": 0,
     "f": 0,

src/main/java/frc/robot/Constants.java

@@ -30,12 +30,12 @@ public static class OperatorConstants {
   public static final String PHOTONCAMERA_NAME = "Arducam_A";
   public static final String PHOTONCAMERA_NAME2 = "Arducam_B";
 
-  public static class IDs {
-    public static final int INTAKE_MOTOR = 2;
-    public static final int OUTTAKE_TOP_MOTOR = 3;
-    public static final int OUTTAKE_BOTTOM_MOTOR = 4;
-    public static final int ANGLE_MOTOR = 31;
-    public static final int ROLLER_MOTOR = 30;
+  public final class IDs {
+    public static final int INTAKE_MOTOR = 41;
+    public static final int OUTTAKE_TOP_MOTOR = 42;
+    public static final int OUTTAKE_BOTTOM_MOTOR = 43;
+    public static final int ANGLE_MOTOR = 62;
+    public static final int ROLLER_MOTOR = 61;
   }
 
   public static class Speeds {

src/main/java/frc/robot/RobotContainer.java

@@ -125,9 +125,9 @@ public RobotContainer() {
 
    DriveCommand driveCmd = new DriveCommand(
       swerveSubsystem,
-      () -> MathUtil.applyDeadband(-driverXbox.getLeftY(), 0.02), // Y axis on joystick is X axis for FRC. Forward is postive-Y, so need to invert sign
-      () -> MathUtil.applyDeadband(-driverXbox.getLeftX(), 0.02), // X axis on joystick is Y axis for FRC. Left is positive-X, so need to invert sign
-      () -> MathUtil.applyDeadband(-driverXbox.getRightX(), 0.08),
+      () -> MathUtil.applyDeadband(driverXbox.getLeftY(), 0.02), // Y axis on joystick is X axis for FRC. Forward is postive-Y, so need to invert sign
+      () -> MathUtil.applyDeadband(driverXbox.getLeftX(), 0.02), // X axis on joystick is Y axis for FRC. Left is positive-X, so need to invert sign
+      () -> MathUtil.applyDeadband(driverXbox.getRightX(), 0.08),
       () -> driverXbox.getHID().getBButton(),
       () -> angleToSpeaker()
     ); // Rotation for FRC is CCW-positive, so need to invert sign

src/main/java/frc/robot/subsystems/ArmSubsystem.java

@@ -44,11 +44,11 @@ public class ArmSubsystem extends SubsystemBase {
     public double setpoint = 0;
 
     private TalonFXConfiguration configs = new TalonFXConfiguration();
-
-    private final TalonFX motor1 = new TalonFX(11);
-    private final TalonFX motor2 = new TalonFX(12);
-    private final TalonFX motor3 = new TalonFX(13);
-
+    
+    private final TalonFX motor1 = new TalonFX(51);
+    private final TalonFX motor2 = new TalonFX(52);
+    private final TalonFX motor3 = new TalonFX(53);
+  
     private final TalonSRX sensorTalon = new TalonSRX(14);
 
     Orchestra orch = new Orchestra();

vendordeps/PathplannerLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.7",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.7"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.7",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,