Merge branch 'main' of https://github.com/Gongoliers/Robot2024

Gongoliers · Apr 2, 2024 · c15df18 · c15df18
2 parents 18b5db8 + c097e19
commit c15df18
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diff --git a/src/main/java/frc/robot/swerve/Swerve.java b/src/main/java/frc/robot/swerve/Swerve.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
@@ -94,6 +95,8 @@ public void addToShuffleboard(ShuffleboardTab tab) {
           "Setpoint Angle (deg)", () -> swerveModule.getSetpoint().angle.getDegrees());
       swerveModuleColumn.addDouble(
           "Setpoint Velocity (mps)", () -> swerveModule.getSetpoint().speedMetersPerSecond);
+
+      swerveModuleColumn.add(Commands.runOnce(swerveModule::syncSteerPosition).withName("Sync Steer"));
     }
   }
 

diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIO.java b/src/main/java/frc/robot/swerve/SwerveModuleIO.java
@@ -7,6 +7,11 @@
 /** Swerve module hardware interface. */
 public interface SwerveModuleIO {
 
+  /**
+   * Sets the steer motor's position to the azimuth encoder's position.
+   */
+  public void syncSteerPosition();
+
   /**
    * Gets the state of the swerve module.
    *

diff --git a/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java b/src/main/java/frc/robot/swerve/SwerveModuleIOCustom.java
@@ -52,6 +52,11 @@ public SwerveModuleIOCustom(SwerveModuleConfig config) {
 
     setpoint = new SwerveModuleState();
 
+    syncSteerPosition();
+  }
+
+  @Override
+  public void syncSteerPosition() {
     azimuthEncoder.update(azimuthEncoderValues);
     steerMotor.setPosition(azimuthEncoderValues.positionRotations);
   }