Changed motor IDs

blair-robot-project · Feb 4, 2024 · ccf47dc · ccf47dc
1 parent 47dfb2d
commit ccf47dc
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Showing 3 changed files with 16 additions and 16 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt
@@ -6,14 +6,14 @@ object SwerveConstants {
   const val EFFICIENCY = 0.95
 
   /** Drive motor ports */
-  const val DRIVE_MOTOR_FL = 3
-  const val DRIVE_MOTOR_FR = 33
-  const val DRIVE_MOTOR_BL = 11
-  const val DRIVE_MOTOR_BR = 22
-  const val TURN_MOTOR_FL = 38
-  const val TURN_MOTOR_FR = 17
-  const val TURN_MOTOR_BL = 41
-  const val TURN_MOTOR_BR = 45
+  const val DRIVE_MOTOR_FL = 1
+  const val DRIVE_MOTOR_FR = 6
+  const val DRIVE_MOTOR_BL = 8
+  const val DRIVE_MOTOR_BR = 4
+  const val TURN_MOTOR_FL = 2
+  const val TURN_MOTOR_FR = 5
+  const val TURN_MOTOR_BL = 7
+  const val TURN_MOTOR_BR = 3
 
   /** Turning encoder channels */
   const val TURN_ENC_CHAN_FL = 8
@@ -22,10 +22,10 @@ object SwerveConstants {
   const val TURN_ENC_CHAN_BR = 6
 
   /** Offsets for the absolute encoders in rotations */
-  const val TURN_ENC_OFFSET_FL = 0.495
-  const val TURN_ENC_OFFSET_FR = 0.432
-  const val TURN_ENC_OFFSET_BL = 0.787267 - 0.5
-  const val TURN_ENC_OFFSET_BR = 0.422
+  const val TURN_ENC_OFFSET_FL = 0.0
+  const val TURN_ENC_OFFSET_FR = 0.0
+  const val TURN_ENC_OFFSET_BL = 0.0
+  const val TURN_ENC_OFFSET_BR = 0.0
 
   /** PID gains for turning each module */
   const val TURN_KP = 0.85

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt
@@ -5,10 +5,10 @@ import kotlin.math.PI
 
 object PivotConstants {
 
-  const val MOTOR_ID = 46
+  const val MOTOR_ID = 11
   const val INVERTED = false
   const val CURRENT_LIM = 40
-  const val FOLLOWER_ID = 47
+  const val FOLLOWER_ID = 12
   const val FOLLOWER_INVERTED = true
 
   /** Encoder stuff */

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/UndertakerConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/UndertakerConstants.kt
@@ -1,8 +1,8 @@
 package frc.team449.robot2024.constants.subsystem
 
 object UndertakerConstants {
-  const val MOTOR_ID = 55
-  const val FOLLOLWER_ID = 54
+  const val MOTOR_ID = 9
+  const val FOLLOLWER_ID = 14
   const val FOLLOWER_INV = false
   const val INVERTED = true
   const val CURRENT_LIM = 15