Cj/krakendrive #34
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Cj/krakendrive #34
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gordonbchen
requested changes
May 20, 2024
| @@ -14,7 +14,7 @@ public class SwerveModule { | |||
| // Back left, back right, front left, front right convention. | |||
| // Calibration procedure: set all offsets to 0.0, redeploy, align all wheels to face forwards, | |||
| // use CANCoder reading as offset, add 180.0 if wheel drives backwards. | |||
| private static final double[] STEER_WHEEL_ZERO_OFFSET_DEGREES = {298.04, 260.33, 161.37, -0.44}; | |||
| private static final double[] STEER_WHEEL_ZERO_OFFSET_DEGREES = {298.04, 260.33, 161.37, -0.44}; //adjust wheel offsets. | |||
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Retune the steer offsets before merging
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Description
Tuned PIDs and Current limits for new Kraken X60 drive motors and added a counter auto for aces high for CT champs.
Wheel offsets will need to be rest next time in shop.
Type of change
How Has This Been Tested?
Tested in shop and at CT Champs
Author Checklist: