Fix invert for motor and swerve

ZodiacEFZ · Sep 14, 2024 · 6b3758b · 6b3758b
1 parent 0eed7da
commit 6b3758b
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Showing 4 changed files with 9 additions and 8 deletions.
diff --git a/src/main/java/frc/libzodiac b/src/main/java/frc/libzodiac
diff --git a/src/main/java/frc/robot/Commands/Auto.java b/src/main/java/frc/robot/Commands/Auto.java
@@ -10,7 +10,7 @@
 import java.util.Queue;
 
 public class Auto extends ZCommand {
-    public static final AutoCommand Fallback = new AutoCommand() {
+    public static final AutoCommand Default = new AutoCommand() {
         @Override
         public AutoCommand init() {
             commands.clear();
@@ -45,8 +45,9 @@ public AutoCommand init() {
     private static AutoCommand command;
     private static Chassis chassis;
 
-    public Auto(RobotContainer robot) {
+    public Auto(RobotContainer robot, AutoCommand cmd) {
         chassis = require(robot.chassis);
+        command = cmd;
     }
 
     private static boolean go_pos(Vec2D pos, double yaw) {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -17,7 +17,7 @@ public class RobotContainer {
     public final Zamera camera = new Zamera();
     public final Xbox driver = new Xbox(0);
     public final Xbox controller = new Xbox(1);
-    public final Auto auto = new Auto(this); // todo: change command
+    public final Auto auto = new Auto(this, Auto.Default); // todo: change command
 
 
     /**

diff --git a/src/main/java/frc/robot/Subsystems/Chassis.java b/src/main/java/frc/robot/Subsystems/Chassis.java
@@ -9,10 +9,10 @@
 
 public class Chassis extends Zwerve {
     // TODO: Swerve zero position
-    private static final TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3581);
-    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921);
-    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 408);
-    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 149);
+    private static final TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3581).invert(false, true);
+    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921).invert(false, false);
+    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 408).invert(true, true);
+    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 149).invert(true, true);
 
     private static final Pigeon gyro = new Pigeon(0);
+2 −0		Zwerve.java
+9 −7		hardware/Pro775.java
+2 −2		hardware/TalonFXMotor.java
+7 −0		hardware/group/TalonFXSwerve.java