Adds Mk4i configurations #9
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ZachOrr
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ZachOrr
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Feb 1, 2022
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| motor.setSensorPhase(true); | ||
| motor.setInverted(moduleConfiguration.isSteerInverted() ? TalonFXInvertType.CounterClockwise : TalonFXInvertType.Clockwise); |
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This bit should be confirmed as correct. The motors need to be flipped for the Mk4i modules - but it makes sense to me that you'd invert the motor as opposed to inverting the sensor phase. Is there a reason to invert the sensor phase instead of the motor direction?
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Hey y'all - added some configurations for the Mk4i modules. I think I got the important bits - the 14T -> 50T on the steer reduction, and flipping the steer motor inversion.