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New offset
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@faeqk
faeqk committed Jul 28, 2024
1 parent b1b3124 commit aa3ddfd
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Showing 2 changed files with 25 additions and 25 deletions.
2 changes: 1 addition & 1 deletion src/main/java/com/team1701/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -289,7 +289,7 @@ public static final class Drive {
kSteerKp.initDefault(4000); // 16.0
kSteerKd.initDefault(50);
kFrontLeftModuleEncoderOffset = Rotation2d.fromRadians(-2.262);
kFrontRightModuleEncoderOffset = Rotation2d.fromRadians(0.672);
kFrontRightModuleEncoderOffset = Rotation2d.fromRadians(-3.851);
kBackLeftModuleEncoderOffset = Rotation2d.fromRadians(-1.291);
kBackRightModuleEncoderOffset = Rotation2d.fromRadians(-5.639);
break;
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48 changes: 24 additions & 24 deletions src/main/java/com/team1701/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -628,64 +628,64 @@ private void setupAutonomous() {
var demoCommand = commands.demo();
var shootAndBackupCommand = commands.shootAndBackup();
var greedyMiddleCommand = commands.greedyMiddle();
var source4321CenterStageCommand = commands.source4321CenterStage();
var inverseGreedy = commands.inverseGreedy();
var ampA123ampCommand = commands.ampA123amp();
var source54CSeek = commands.source54CSeek();
var amp123Amp = commands.amp123Amp();
var ampDrop123Amp = commands.ampDrop123Amp();
var ampDrop12Amp = commands.ampDrop12Amp();
var ampDrop231Amp = commands.ampDrop231Amp();
var ampDrop21Amp = commands.ampDrop21Amp();
var centerB342Stage = commands.centerB342Stage();
var source543Stage = commands.source543Stage();
var centerB231Center = commands.centerB231Center();
var centerBA123Amp = commands.centerBA123Amp();
var centerBC123center = commands.centerBC123center();
var source543Stage = commands.source543Stage();
var source54CSeek = commands.source54CSeek();
var source4321CenterStageCommand = commands.source4321CenterStage();
var source543source = commands.source543Source();
var inverseGreedy = commands.inverseGreedy();
var sourceDrop543source = commands.sourceDrop543source();
var ampDrop123Amp = commands.ampDrop123Amp();
var ampDrop12Amp = commands.ampDrop12Amp();
var ampDrop231Amp = commands.ampDrop231Amp();
var ampDrop21Amp = commands.ampDrop21Amp();
var sourceDrop54source = commands.sourceDrop54source();
var sourceDrop45source = commands.sourceDrop45source();

mAutonomousPaths.put("Shoot and Backup", shootAndBackupCommand.path());
mAutonomousPaths.put("Greedy Middle Auto", greedyMiddleCommand.path());
mAutonomousPaths.put("Source 4321 CenterStage", source4321CenterStageCommand.path());
mAutonomousPaths.put("Inverse Greedy Auto", inverseGreedy.path());
mAutonomousPaths.put("Amp A123 Amp", ampA123ampCommand.path());
mAutonomousPaths.put("Source 54C Seek", source54CSeek.path());
mAutonomousPaths.put("Amp123Amp", amp123Amp.path());
mAutonomousPaths.put("Amp Drop 123 Amp", ampDrop123Amp.path());
mAutonomousPaths.put("Amp Drop 12 Amp", ampDrop12Amp.path());
mAutonomousPaths.put("Amp Drop 231 Amp", ampDrop231Amp.path());
mAutonomousPaths.put("Amp Drop 21 Amp", ampDrop21Amp.path());
mAutonomousPaths.put("Center B342 Stage", centerB342Stage.path());
mAutonomousPaths.put("Source 543 Stage", source543Stage.path());
mAutonomousPaths.put("Center B231 Center", centerB231Center.path());
mAutonomousPaths.put("Center BA123 Amp", centerBA123Amp.path());
mAutonomousPaths.put("Center BC123 Center", centerBC123center.path());
mAutonomousPaths.put("Source 543 Stage", source543Stage.path());
mAutonomousPaths.put("Source 543 Source", source543source.path());
mAutonomousPaths.put("Inverse Greedy Auto", inverseGreedy.path());
mAutonomousPaths.put("Source 54C Seek", source54CSeek.path());
mAutonomousPaths.put("Source 4321 CenterStage", source4321CenterStageCommand.path());
mAutonomousPaths.put("Source Drop 543 Source", sourceDrop543source.path());
mAutonomousPaths.put("Amp Drop 123 Amp", ampDrop123Amp.path());
mAutonomousPaths.put("Amp Drop 12 Amp", ampDrop12Amp.path());
mAutonomousPaths.put("Amp Drop 231 Amp", ampDrop231Amp.path());
mAutonomousPaths.put("Amp Drop 21 Amp", ampDrop21Amp.path());
mAutonomousPaths.put("Source Drop 54 Source", sourceDrop54source.path());
mAutonomousPaths.put("Source Drop 45 Source", sourceDrop45source.path());

autonomousModeChooser.addDefaultOption("Shoot and Backup", shootAndBackupCommand.command());
autonomousModeChooser.addOption("Greedy Middle Auto", greedyMiddleCommand.command());
autonomousModeChooser.addOption("Source 4321 CenterStage", source4321CenterStageCommand.command());
autonomousModeChooser.addOption("Inverse Greedy Auto", inverseGreedy.command());
autonomousModeChooser.addOption("Amp A123 Amp", ampA123ampCommand.command());
autonomousModeChooser.addOption("Source 54C Seek", source54CSeek.command());
autonomousModeChooser.addOption("Amp123Amp", amp123Amp.command());
autonomousModeChooser.addOption("Amp Drop 123 Amp", ampDrop123Amp.command());
autonomousModeChooser.addOption("Amp Drop 12 Amp", ampDrop12Amp.command());
autonomousModeChooser.addOption("Amp Drop 231 Amp", ampDrop231Amp.command());
autonomousModeChooser.addOption("Amp Drop 21 Amp", ampDrop21Amp.command());
autonomousModeChooser.addOption("Center B342 Stage", centerB342Stage.command());
autonomousModeChooser.addOption("Source 543 Stage", source543Stage.command());
autonomousModeChooser.addOption("Center B231 Center", centerB231Center.command());
autonomousModeChooser.addOption("Center BA123 Amp", centerBA123Amp.command());
autonomousModeChooser.addOption("Center BC123 Center", centerBC123center.command());
autonomousModeChooser.addOption("Source 543 Stage", source543Stage.command());
autonomousModeChooser.addOption("Source 543 Source", source543source.command());
autonomousModeChooser.addOption("Inverse Greedy Auto", inverseGreedy.command());
autonomousModeChooser.addOption("Source 54C Seek", source54CSeek.command());
autonomousModeChooser.addOption("Source 4321 CenterStage", source4321CenterStageCommand.command());
autonomousModeChooser.addOption("Source Drop 543 Source", sourceDrop543source.command());
autonomousModeChooser.addOption("Amp Drop 123 Amp", ampDrop123Amp.command());
autonomousModeChooser.addOption("Amp Drop 12 Amp", ampDrop12Amp.command());
autonomousModeChooser.addOption("Amp Drop 231 Amp", ampDrop231Amp.command());
autonomousModeChooser.addOption("Amp Drop 21 Amp", ampDrop21Amp.command());
autonomousModeChooser.addOption("Source Drop 54 Source", sourceDrop54source.command());
autonomousModeChooser.addOption("Source Drop 45 Source", sourceDrop45source.command());

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