Merge branch 'development' of https://github.com/awtybots/FRC-2024 in…

…to development
awtybots · Feb 25, 2024 · c6cb18f · c6cb18f
2 parents e6ec1db + 1791983
commit c6cb18f
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
@@ -38,7 +38,7 @@ public GyroIONavX(boolean phoenixDrive) {
     ahrs.zeroYaw();
 
     yawPositionQueue =
-        SparkMaxOdometryThread.getInstance().registerSignal(() -> (double) ahrs.getYaw());
+        SparkMaxOdometryThread.getInstance().registerSignal(() -> (double) ahrs.getYaw() * -1);
   }
 
   @Override
@@ -54,10 +54,12 @@ public void updateInputs(GyroIOInputs inputs) {
     // yawPositionQueue.clear();
     inputs.connected = ahrs.isConnected();
     inputs.calibrating = ahrs.isCalibrating();
-    inputs.yawPosition = Rotation2d.fromDegrees(ahrs.getYaw());
+    inputs.yawPosition = Rotation2d.fromDegrees(ahrs.getYaw() * -1);
     inputs.yawVelocityRadPerSec = Units.degreesToRadians(ahrs.getRawGyroZ());
     inputs.odometryYawPositions =
-        yawPositionQueue.stream().map(Rotation2d::fromDegrees).toArray(Rotation2d[]::new);
+        yawPositionQueue.stream()
+            .map((Double value) -> Rotation2d.fromDegrees(value))
+            .toArray(Rotation2d[]::new);
 
     yawPositionQueue.clear();
   }

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -39,7 +39,7 @@
  */
 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 DRIVE_GEAR_RATIO = 5.08 / 1.0;
   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;
 
@@ -108,8 +108,8 @@ public ModuleIOSparkMax(int index) {
     turnAbsoluteEncoderNew.setInverted(true);
 
     turnSparkMax.setInverted(isTurnMotorInverted);
-    driveSparkMax.setSmartCurrentLimit(40);
-    turnSparkMax.setSmartCurrentLimit(30);
+    driveSparkMax.setSmartCurrentLimit(30);
+    turnSparkMax.setSmartCurrentLimit(20);
     driveSparkMax.enableVoltageCompensation(12.0);
     turnSparkMax.enableVoltageCompensation(12.0);