Swerve actually works this time #2
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
rutmanz
approved these changes
Jan 15, 2024
| double rotPercent = rotLimiter.calculate(-controller.getRightX()); | ||
|
|
||
| // Apply deadband | ||
| double linearMagnitude = MathUtil.applyDeadband(Math.hypot(xPercent, yPercent), 0.1); |
There was a problem hiding this comment.
might want to lower deadzone based on our controllers
Comment on lines
+82
to
84
| this.cancoder.getConfigurator().apply(canCoderConfig); | ||
|
|
||
| this.cancoderOffset = Rotation2d.fromDegrees(corner.offset); |
There was a problem hiding this comment.
We might also want to offset the offsets by the corner rotations in the cancoder config directly instead of handling it elsewhere in the drive code. Would make self-tests in Tuner X a little nicer, and consolidate the offset logic, but it's not problematic as it is.
|
Should close CLICKUP-86a1tc3y0 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
(probably)