m

simgui.json

@@ -1,10 +1,5 @@
 {
   "HALProvider": {
-    "DIO": {
-      "window": {
-        "visible": true
-      }
-    },
     "Other Devices": {
       "SPARK MAX [10]": {
         "header": {
@@ -52,16 +47,6 @@
         }
       }
     },
-    "Solenoids": {
-      "0": {
-        "header": {
-          "open": true
-        }
-      },
-      "window": {
-        "visible": true
-      }
-    },
     "Timing": {
       "window": {
         "visible": false

src/main/deploy/swerve/modules/backleft.json

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 120.762,
+  "absoluteEncoderOffset": 299.443,
   "drive": {
     "type": "sparkmax",
     "id": 8,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 7,
+    "id": 6,
     "canbus": null
   }
 }

src/main/deploy/swerve/modules/backright.json

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 96.768,
+  "absoluteEncoderOffset": 95.537,
   "drive": {
     "type": "sparkmax",
     "id": 11,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 6,
+    "id": 7,
     "canbus": null
   }
 }

src/main/deploy/swerve/modules/frontleft.json

@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 170.244,
+  "absoluteEncoderOffset": 348.223 ,
   "drive": {
     "type": "sparkmax",
     "id": 2,

src/main/deploy/swerve/modules/frontright.json

@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 198.105,
+  "absoluteEncoderOffset": 200.215,
   "drive": {
     "type": "sparkmax",
     "id": 18,

src/main/java/frc/robot/RobotContainer.java

@@ -87,7 +87,7 @@ public class RobotContainer {
     // deplacement
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
+     drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
     },drive));
 
     // grimpeur manuel