make swerve not chatter

OakvilleDynamics · Feb 29, 2024 · 71f19f5 · 71f19f5
1 parent f2873ee
commit 71f19f5
Show file tree

Hide file tree

Showing 7 changed files with 14 additions and 14 deletions.
diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
@@ -1,8 +1,8 @@
 {
-  "angleJoystickRadiusDeadband": 0.25,
+  "angleJoystickRadiusDeadband": 0.05,
   "heading": {
     "p": 0.4,
     "i": 0,
-    "d": 0.01
+    "d": 0
   }
 }
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": -13.5,
-    "left": 13.5
+    "front": -11,
+    "left": 11
   },
   "absoluteEncoderOffset": 276.15234375,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": -13.5,
-    "left": -13.5
+    "front": -11,
+    "left": -11
   },
   "absoluteEncoderOffset": 299.267578125,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": 13.5,
-    "left": 13.5
+    "front": 11,
+    "left": 11
   },
   "absoluteEncoderOffset": 357.978515625,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
@@ -1,7 +1,7 @@
 {
   "location": {
-    "front": 13.5,
-    "left": -13.5
+    "front": 11,
+    "left": -11
   },
   "absoluteEncoderOffset": 52.91015625,
   "drive": {

diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -11,6 +11,6 @@
   },
   "rampRate": {
     "drive": 0.25,
-    "angle": 0.25
+    "angle": 0
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -61,7 +61,7 @@ public RobotContainer() {
     // Configure the trigger bindings
     configureBindings();
 
-    AbsoluteDriveAdv closedAbsoluteDriveAdv =
+    final AbsoluteDriveAdv closedAbsoluteDriveAdv =
         new AbsoluteDriveAdv(
             drivebase,
             () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
@@ -94,15 +94,15 @@ public RobotContainer() {
         drivebase.driveCommand(
             () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
             () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
-            () -> driverXbox.getRawAxis(2));
+            () -> driverXbox.getRightX() * 0.5);
 
     Command driveFieldOrientedDirectAngleSim =
         drivebase.simDriveCommand(
             () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
             () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
             () -> driverXbox.getRawAxis(2));
 
-    drivebase.setDefaultCommand(closedAbsoluteDriveAdv);
+    drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity);
   }
 
   /**