Adds Mk4i configurations

SwerveDriveSpecialties · Feb 1, 2022 · 28b8d1b · 28b8d1b
1 parent 24d9d53
commit 28b8d1b
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Showing 14 changed files with 26 additions and 1 deletion.
diff --git a/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper$GearRatio.class b/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper$GearRatio.class
diff --git a/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.class b/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.class
diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Main.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Main.class
diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Robot.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Robot.class
diff --git a/.../mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.class b/.../mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.class
diff --git a/...nibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.class b/...nibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.class
diff --git a/.../main/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.class b/.../main/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.class
diff --git a/...es/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Main.class b/...es/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Main.class
diff --git a/...s/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Robot.class b/...s/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Robot.class
diff --git a/...tchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.class b/...tchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.class
diff --git a/...s/bin/main/com/swervedrivespecialties/examples/mk3testchassis/commands/DriveCommand.class b/...s/bin/main/com/swervedrivespecialties/examples/mk3testchassis/commands/DriveCommand.class
diff --git a/...n/com/swervedrivespecialties/examples/mk3testchassis/subsystems/DrivetrainSubsystem.class b/...n/com/swervedrivespecialties/examples/mk3testchassis/subsystems/DrivetrainSubsystem.class
diff --git a/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java b/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java
@@ -492,7 +492,10 @@ public enum GearRatio {
         L1(SdsModuleConfigurations.MK4_L1),
         L2(SdsModuleConfigurations.MK4_L2),
         L3(SdsModuleConfigurations.MK4_L3),
-        L4(SdsModuleConfigurations.MK4_L4);
+        L4(SdsModuleConfigurations.MK4_L4),
+        L1I(SdsModuleConfigurations.MK4I_L1),
+        L2I(SdsModuleConfigurations.MK4I_L2),
+        L3I(SdsModuleConfigurations.MK4I_L3);
 
         private final ModuleConfiguration configuration;
 

diff --git a/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java b/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java
@@ -45,6 +45,28 @@ public final class SdsModuleConfigurations {
             true
     );
 
+    public static final ModuleConfiguration MK4I_L1 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+    public static final ModuleConfiguration MK4I_L2 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (27.0 / 17.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+    public static final ModuleConfiguration MK4I_L3 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (28.0 / 16.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+
     private SdsModuleConfigurations() {
     }
 }