Merge branch 'anaorakthegreat-main'

Team100 · Nov 23, 2024 · 2a109b2 · 2a109b2
2 parents b5f7220 + 142d119
commit 2a109b2
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 16 deletions.
diff --git a/comp/swerve100/src/main/java/org/team100/frc2024/RobotContainer.java b/comp/swerve100/src/main/java/org/team100/frc2024/RobotContainer.java
@@ -479,12 +479,6 @@ public RobotContainer(TimedRobot100 robot) throws IOException {
         feeder.setDefaultCommand(feeder.run(feeder::stop));
         intake.setDefaultCommand(intake.run(intake::stop));
         // climber.setDefaultCommand(new ClimberDefault(
-        // // comLog,
-        // climber,
-        // operatorControl::leftClimb,
-        // operatorControl::rightClimb));
-        // m_ampFeeder.setDefaultCommand(m_ampFeeder.run(m_ampFeeder::stop));
-
         // if far from the goal, go fast. if near, go slow.
         // m_ampPivot.setDefaultCommand(new AmpFastThenSlow(m_ampPivot, 0.1, 0));
 

diff --git a/...c/main/java/org/team100/lib/motion/drivetrain/kinodynamics/SwerveKinodynamicsFactory.java b/...c/main/java/org/team100/lib/motion/drivetrain/kinodynamics/SwerveKinodynamicsFactory.java
@@ -55,7 +55,7 @@ public static SwerveKinodynamics get() {
                         0.3); // vcg m
             case SWERVE_ONE:
                 return new SwerveKinodynamics(
-                        4, // vel m/s
+                        5, // vel m/s
                         10, // stall m/s/s
                         10, // max accel m/s/s
                         20, // max decel m/s/s

diff --git a/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java b/lib/src/main/java/org/team100/lib/motion/drivetrain/module/SwerveModuleCollection.java
@@ -1,7 +1,6 @@
 package org.team100.lib.motion.drivetrain.module;
 
 import org.team100.lib.config.Identity;
-import org.team100.lib.encoder.AnalogTurningEncoder;
 import org.team100.lib.encoder.DutyCycleRotaryPositionSensor;
 import org.team100.lib.encoder.EncoderDrive;
 import org.team100.lib.logging.LoggerFactory;
@@ -104,8 +103,8 @@ public static SwerveModuleCollection get(
                                 32,
                                 DriveRatio.FAST, DutyCycleRotaryPositionSensor.class,
                                 12,
-                                7,
-                                0.151,
+                                2,
+                                0.34,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(frontRightLogger,
@@ -114,8 +113,8 @@ public static SwerveModuleCollection get(
                                 30,
                                 DriveRatio.FAST, DutyCycleRotaryPositionSensor.class,
                                 11,
-                                8,
-                                0.88,
+                                1,
+                                0.62,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(rearLeftLogger,
@@ -124,8 +123,8 @@ public static SwerveModuleCollection get(
                                 31,
                                 DriveRatio.FAST, DutyCycleRotaryPositionSensor.class,
                                 21,
-                                6,
-                                0.91,
+                                3,
+                                0.59,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE),
                         WCPSwerveModule100.getFalconDrive(rearRightLogger,
@@ -134,8 +133,8 @@ public static SwerveModuleCollection get(
                                 22,
                                 DriveRatio.FAST, DutyCycleRotaryPositionSensor.class,
                                 33,
-                                9,
-                                0.888,
+                                0,
+                                0.59,
                                 kinodynamics,
                                 EncoderDrive.DIRECT, MotorPhase.REVERSE));
             case BETA_BOT: