Fix swerve

ZodiacEFZ · Nov 4, 2024 · db980f3 · db980f3
1 parent 2089eed
commit db980f3
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/src/main/java/frc/libzodiac b/src/main/java/frc/libzodiac
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.libzodiac.ZDashboard;
 import frc.libzodiac.Zambda;
 import frc.libzodiac.Zamera;
 import frc.libzodiac.ui.Axis;

diff --git a/src/main/java/frc/robot/subsystems/Chassis.java b/src/main/java/frc/robot/subsystems/Chassis.java
@@ -6,19 +6,19 @@
 import frc.libzodiac.hardware.Pigeon;
 import frc.libzodiac.hardware.TalonFXMotor;
 import frc.libzodiac.hardware.group.TalonFXSwerve;
-import frc.libzodiac.util.Vec2D;
+import frc.libzodiac.util.Vec2;
 
 public class Chassis extends Zwerve {
     // TODO: Swerve zero position
-    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 TalonFXSwerve front_left = new TalonFXSwerve(5, 1, 9, 3354).invert(false, true);
+    private static final TalonFXSwerve front_right = new TalonFXSwerve(8, 4, 12, 1921).invert(false, true);
+    private static final TalonFXSwerve rear_left = new TalonFXSwerve(6, 2, 10, 792).invert(false, true);
+    private static final TalonFXSwerve rear_right = new TalonFXSwerve(7, 3, 11, 147).invert(false, true);
 
     private static final Pigeon gyro = new Pigeon(0);
 
     private static final Pose2d initialPose = new Pose2d(0, 0, Rotation2d.fromRadians(0)); // TODO: Initial pose
-    private static final Vec2D size = new Vec2D(114, 114); // TODO: Robot size
+    private static final Vec2 size = new Vec2(114, 114); // TODO: Robot size
 
     /**
      * Creates a new Chassis.
+3 −3		ZDashboard.java
+16 −38		hardware/TalonFXMotor.java
+3 −2		hardware/group/TalonFXSwerve.java