From 025d9e47f0b4572a1794e730f1a7da43cb31f931 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Wed, 23 Oct 2024 19:22:23 -0400
Subject: [PATCH]

---
 .../deploy/swerve/controllerproperties.json   |  8 +++++
 src/main/deploy/swerve/modules/backleft.json  | 30 +++++++++++++++++++
 src/main/deploy/swerve/modules/backright.json | 30 +++++++++++++++++++
 src/main/deploy/swerve/modules/frontleft.json | 30 +++++++++++++++++++
 .../deploy/swerve/modules/frontright.json     | 30 +++++++++++++++++++
 .../swerve/modules/physicalproperties.json    | 16 ++++++++++
 .../deploy/swerve/modules/pidfproperties.json | 16 ++++++++++
 src/main/deploy/swerve/swervedrive.json       | 14 +++++++++
 8 files changed, 174 insertions(+)
 create mode 100644 src/main/deploy/swerve/controllerproperties.json
 create mode 100644 src/main/deploy/swerve/modules/backleft.json
 create mode 100644 src/main/deploy/swerve/modules/backright.json
 create mode 100644 src/main/deploy/swerve/modules/frontleft.json
 create mode 100644 src/main/deploy/swerve/modules/frontright.json
 create mode 100644 src/main/deploy/swerve/modules/physicalproperties.json
 create mode 100644 src/main/deploy/swerve/modules/pidfproperties.json
 create mode 100644 src/main/deploy/swerve/swervedrive.json

diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
new file mode 100644
index 0000000..669097e
--- /dev/null
+++ b/src/main/deploy/swerve/controllerproperties.json
@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.5,
+  "heading": {
+    "p": 0.4,
+    "i": 0,
+    "d": 0.01
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
new file mode 100644
index 0000000..0d3c214
--- /dev/null
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -0,0 +1,30 @@
+{
+  "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
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
new file mode 100644
index 0000000..a2b0c92
--- /dev/null
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -0,0 +1,30 @@
+{
+  "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
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
new file mode 100644
index 0000000..5cd53a4
--- /dev/null
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -0,0 +1,30 @@
+{
+  "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
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
new file mode 100644
index 0000000..cd1f7a6
--- /dev/null
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -0,0 +1,30 @@
+{
+  "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
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
new file mode 100644
index 0000000..4994775
--- /dev/null
+++ b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -0,0 +1,16 @@
+{
+  "optimalVoltage": 12,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactor": {
+    "angle": 16.8,
+    "drive": 0.04
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json
new file mode 100644
index 0000000..99664bb
--- /dev/null
+++ b/src/main/deploy/swerve/modules/pidfproperties.json
@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.01,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json
new file mode 100644
index 0000000..1604d61
--- /dev/null
+++ b/src/main/deploy/swerve/swervedrive.json
@@ -0,0 +1,14 @@
+{
+  "imu": {
+    "type": "pigeon",
+    "id": 0,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "frontleft.json",
+    "frontright.json",
+    "backleft.json",
+    "backright.json"
+  ]
+}
\ No newline at end of file