PLS5618/Reefscape-2025
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

limelight

Browse Source
This commit is contained in:
Antoine PerreaultE
2025-02-17 18:33:49 -05:00
parent be9f3856f7
commit d692bab745
13 changed files with 322 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -6,6 +6,7 @@ import java.util.function.Supplier;
import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -53,6 +54,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
new SysIdRoutine.Config(
null, // Use default ramp rate (1 V/s)
@@ -255,7 +257,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return m_sysIdRoutineToApply.dynamic(direction);
}
@Override
public void periodic() {
/*