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

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 80.332,
+  "absoluteEncoderOffset": 120.762,
   "drive": {
     "type": "sparkmax",
     "id": 8,

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

@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 28.74,
+  "absoluteEncoderOffset": 96.768,
   "drive": {
     "type": "sparkmax",
     "id": 11,

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

@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 98.438,
+  "absoluteEncoderOffset": 170.244,
   "drive": {
     "type": "sparkmax",
     "id": 2,

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

@@ -3,15 +3,15 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 17.227,
+  "absoluteEncoderOffset": 198.105,
   "drive": {
     "type": "sparkmax",
-    "id": 17,
+    "id": 18,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 18,
+    "id": 17,
     "canbus": null
   },
   "inverted": {

src/main/java/frc/robot/Constants.java

@@ -27,8 +27,8 @@ public class Constants {
     public static int grimpeurg = 27;
 
     // Swerve
-    public static int AvantDroitDrive = 17;
+    public static int AvantDroitDrive = 18;
-    public static int AvantDroitAngle = 18;
+    public static int AvantDroitAngle = 17;
     public static int AvantGaucheDrive = 2; 
     public static int AvantGaucheAngle = 3;
     public static int ArriereDroitDrive = 11;