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redid swoffsets #68

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Merged
AngelaKimmy merged 1 commit into from
Jun 13, 2026
Merged

redid swoffsets #68

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14 changes: 7 additions & 7 deletions src/main/java/frc/robot/constants/ConstDrivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -56,17 +56,17 @@ public class ConstDrivetrain {
public static final Time ROTATION_DELAY = Seconds.of(0.5);

// TODO: Swoffsets
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.189697265625);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.0703125);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.45263671875);
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.1904296875);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.060791015625);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.451416015625);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.3203125);

public static class PRACTICE_BOT {
// TODO: Swoffsets
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.199462890625);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.474365234375);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.447265625);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.3193359375);
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.1904296875);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.0693359375);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.45361328125);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.31884765625);
}

public static final double SLOW_MODE_MULTIPLIER = 0.5;
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