Adds Mk4i configurations

SwerveDriveSpecialties · Feb 1, 2022 · 848836e · 848836e
1 parent 24d9d53
commit 848836e
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Showing 3 changed files with 28 additions and 3 deletions.
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() {
     }
 }
diff --git a/...ava/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java b/...ava/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java
@@ -122,8 +122,8 @@ public ControllerImplementation create(Falcon500SteerConfiguration<T> steerConfi
                 motor.enableVoltageCompensation(true);
             }
             checkCtreError(motor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, CAN_TIMEOUT_MS), "Failed to set Falcon 500 feedback sensor");
-            motor.setSensorPhase(moduleConfiguration.isSteerInverted());
-            motor.setInverted(TalonFXInvertType.CounterClockwise);
+            motor.setSensorPhase(true);
+            motor.setInverted(moduleConfiguration.isSteerInverted() ? TalonFXInvertType.CounterClockwise : TalonFXInvertType.Clockwise);
             motor.setNeutralMode(NeutralMode.Brake);
 
             checkCtreError(motor.setSelectedSensorPosition(absoluteEncoder.getAbsoluteAngle() / sensorPositionCoefficient, 0, CAN_TIMEOUT_MS), "Failed to set Falcon 500 encoder position");