Merge branch 'main' of https://github.com/carokhan/BlockOfCheese2024 …

…into encoder-inversion
carokhan · Nov 28, 2024 · dea4c40 · dea4c40
2 parents 7cb0931 + c3dd943
commit dea4c40
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -65,13 +65,13 @@ public static class Drive {
       public static final int backRightEncoder = 3;
 
       public static final double frontLeftOffset =
-          Rotation2d.fromDegrees(100.15).getRadians(); // 101.8585654710
+          Rotation2d.fromDegrees(-78.560751073938).getRadians(); // 101.8585654710
       public static final double frontRightOffset =
-          Rotation2d.fromDegrees(39.11).getRadians(); // 39.585409
+          Rotation2d.fromDegrees(-175.70581168291014).getRadians(); // 39.585409
       public static final double backLeftOffset =
-          Rotation2d.fromDegrees(100.15).getRadians(); // 103.4415122
+          Rotation2d.fromDegrees(-73.54207322946).getRadians(); // 103.4415122
       public static final double backRightOffset =
-          Rotation2d.fromDegrees(110.45).getRadians(); // 110.898736
+          Rotation2d.fromDegrees(-72.38969990).getRadians(); // 110.898736
 
       public static final int gyro = 10;
     }

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -27,6 +27,7 @@
 import frc.robot.Constants.RobotMap;
 import java.util.OptionalDouble;
 import java.util.Queue;
+import org.littletonrobotics.junction.Logger;
 
 /**
  * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO
@@ -160,6 +161,9 @@ public ModuleIOSparkMax(int index) {
 
   @Override
   public void updateInputs(ModuleIOInputs inputs) {
+    Logger.recordOutput(
+        "Module" + turnAbsoluteEncoder.getChannel() + "/AbsoluteEncoderVoltage",
+        turnAbsoluteEncoder.getVoltage());
     inputs.drivePositionRad =
         Units.rotationsToRadians(driveEncoder.getPosition()) / DriveConstants.driveRatio;
     inputs.driveVelocityRadPerSec =