fix: Working swerve.

Gongoliers · Mar 15, 2024 · d04ec44 · d04ec44
1 parent 4e728ae
commit d04ec44
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotConstants.java b/src/main/java/frc/robot/RobotConstants.java
@@ -53,5 +53,5 @@ public enum Subsystem {
           Subsystem.SHOOTER,
           Subsystem.SWERVE);
 
-  public static final Set<Subsystem> REAL_SUBSYSTEMS = ALL_SUBSYSTEMS;
+  public static final Set<Subsystem> REAL_SUBSYSTEMS = EnumSet.of(Subsystem.ODOMETRY, Subsystem.SWERVE);
 }
diff --git a/src/main/java/frc/robot/swerve/SwerveConstants.java b/src/main/java/frc/robot/swerve/SwerveConstants.java
@@ -67,28 +67,28 @@ public static class MK4iConstants {
       new SwerveModuleConfig(
           new SwerveModuleCAN(11, 10, 12, SWERVE_BUS),
           new Translation2d(X_OFFSET, Y_OFFSET),
-          Rotation2d.fromRotations(-0.027100));
+          Rotation2d.fromRotations(.117188));
 
   /** Module configuration for the north east swerve module. */
   public static final SwerveModuleConfig NORTH_EAST_MODULE_CONFIG =
       new SwerveModuleConfig(
           new SwerveModuleCAN(2, 1, 3, SWERVE_BUS),
           new Translation2d(X_OFFSET, -Y_OFFSET),
-          Rotation2d.fromRotations(-0.429688));
+          Rotation2d.fromRotations(-0.206787));
 
   /** Module configuration for the south east swerve module. */
   public static final SwerveModuleConfig SOUTH_EAST_MODULE_CONFIG =
       new SwerveModuleConfig(
           new SwerveModuleCAN(5, 4, 6, SWERVE_BUS),
           new Translation2d(-X_OFFSET, -Y_OFFSET),
-          Rotation2d.fromRotations(-0.097168));
+          Rotation2d.fromRotations(-0.084717));
 
   /** Module configuration for the south west swerve module. */
   public static final SwerveModuleConfig SOUTH_WEST_MODULE_CONFIG =
       new SwerveModuleConfig(
           new SwerveModuleCAN(8, 7, 9, SWERVE_BUS),
           new Translation2d(-X_OFFSET, Y_OFFSET),
-          Rotation2d.fromRotations(-0.309814));
+          Rotation2d.fromRotations(-0.442383));
 
   /**
    * Calculates the maximum attainable open loop speed in meters per second.