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Merge branch 'main' of https://git.demerso.net/PLS5618/pratique-2025

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This commit is contained in:
Olivier Dubois 2024-10-23 19:22:39 -04:00
commit 650e8341ec
8 changed files with 174 additions and 0 deletions
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8
src/main/deploy/swerve/controllerproperties.json Normal file
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{
"angleJoystickRadiusDeadband": 0.5,
"heading": {
"p": 0.4,
"i": 0,
"d": 0.01
}
}

30
src/main/deploy/swerve/modules/backleft.json Normal file
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{
"location": {
"front": -12.375,
"left": 12.375
},
"absoluteEncoderOffset":209.443,
"drive": {
"type": "sparkmax",
"id": 8,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 9,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 6,
"canbus": null
}
}

30
src/main/deploy/swerve/modules/backright.json Normal file
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{
"location": {
"front": -12.375,
"left": -12.375
},
"absoluteEncoderOffset": 5.537,
"drive": {
"type": "sparkmax",
"id": 11,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 12,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 7,
"canbus": null
}
}

30
src/main/deploy/swerve/modules/frontleft.json Normal file
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{
"location": {
"front": 12.375,
"left": 12.375
},
"absoluteEncoderOffset":258.223 ,
"drive": {
"type": "sparkmax",
"id": 2,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 3,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 4,
"canbus": null
}
}

30
src/main/deploy/swerve/modules/frontright.json Normal file
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{
"location": {
"front": 12.375,
"left": -12.375
},
"absoluteEncoderOffset": 110.215,
"drive": {
"type": "sparkmax",
"id": 18,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 17,
"canbus": null
},
"inverted": {
"angle": true,
"drive": false
},
"conversionFactor": {
"angle": 0,
"drive": 0
},
"encoder": {
"type": "cancoder",
"id": 5,
"canbus": null
}
}

16
src/main/deploy/swerve/modules/physicalproperties.json Normal file
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{
"optimalVoltage": 12,
"wheelGripCoefficientOfFriction": 1.19,
"currentLimit": {
"drive": 40,
"angle": 20
},
"conversionFactor": {
"angle": 16.8,
"drive": 0.04
},
"rampRate": {
"drive": 0.25,
"angle": 0.25
}
}

16
src/main/deploy/swerve/modules/pidfproperties.json Normal file
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{
"drive": {
"p": 0.0020645,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
},
"angle": {
"p": 0.01,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
}
}

14
src/main/deploy/swerve/swervedrive.json Normal file
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{
"imu": {
"type": "pigeon",
"id": 0,
"canbus": null
},
"invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
"backleft.json",
"backright.json"
]
}