fixed some things i broke earlier

awtybots · Feb 24, 2024 · 2b2fa52 · 2b2fa52
1 parent fb293a3
commit 2b2fa52
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/commands/ControlCommands/DriveCommands.java b/src/main/java/frc/robot/commands/ControlCommands/DriveCommands.java
@@ -39,7 +39,6 @@ public static Command joystickDrive(
       DoubleSupplier omegaSupplier) {
     return Commands.run(
         () -> {
-
           double linearMagnitude;
           Rotation2d linearDirection;
           double omega;
@@ -57,15 +56,16 @@ public static Command joystickDrive(
             omega = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND);
           } else {
             linearMagnitude =
-            (MathUtil.applyDeadband(
-                Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND)) / 2;
+                (MathUtil.applyDeadband(
+                        Math.hypot(xSupplier.getAsDouble(), ySupplier.getAsDouble()), DEADBAND))
+                    / 2;
             linearDirection =
                 new Rotation2d(
                     -MathUtil.applyDeadband(xSupplier.getAsDouble(), DEADBAND),
                     -MathUtil.applyDeadband(ySupplier.getAsDouble(), DEADBAND));
             omega = (MathUtil.applyDeadband(omegaSupplier.getAsDouble(), DEADBAND)) / 2;
           }
-          
+
           // Square values
           linearMagnitude = linearMagnitude * linearMagnitude;
           omega = -Math.copySign(omega * omega, omega);

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -41,7 +41,7 @@ public class ModuleIOSparkMax implements ModuleIO {
   // Gear ratios for SDS MK4i L2, adjust as necessary
   private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);
   private static final double TURN_GEAR_RATIO = 1.0; // 46.42/1.0;
-  private static final double RELATIVE_ENCODER_TURN_GEAR_RATIO = 46.42/1.0;
+  private static final double RELATIVE_ENCODER_TURN_GEAR_RATIO = 46.42 / 1.0;
 
   private final CANSparkMax driveSparkMax;
   private final CANSparkMax turnSparkMax;
@@ -117,10 +117,9 @@ public ModuleIOSparkMax(int index) {
     driveEncoder.setMeasurementPeriod(10);
     driveEncoder.setAverageDepth(2);
 
-    turnRelativeEncoder.setPosition(turnAbsoluteEncoderNew.getPosition() *  RELATIVE_ENCODER_TURN_GEAR_RATIO);
+    turnRelativeEncoder.setPosition(0.0);
     turnRelativeEncoder.setMeasurementPeriod(10);
     turnRelativeEncoder.setAverageDepth(2);
-
 
     driveSparkMax.setCANTimeout(0);
     turnSparkMax.setCANTimeout(0);
@@ -156,7 +155,7 @@ public void updateInputs(ModuleIOInputs inputs) {
     //         .minus(absoluteEncoderOffset);
 
     inputs.turnAbsolutePosition =
-        Rotation2d.fromRotations(turnAbsoluteEncoderNew.getPosition())
+        Rotation2d.fromRotations(turnAbsoluteEncoderNew.getPosition() / TURN_GEAR_RATIO)
             .minus(absoluteEncoderOffset);
 
     // New code to get the absolute encoder with the CTRE through bore absolute encoder