From de1b0ea19c3b00cea50ee6c649cf399383485b32 Mon Sep 17 00:00:00 2001
From: Sana Shah <54493565+sanashah007@users.noreply.github.com>
Date: Mon, 24 Apr 2023 19:30:41 -0700
Subject: [PATCH 1/2] =?UTF-8?q?worlds=20=F0=9F=8C=8E=F0=9F=92=9E?=
 =?UTF-8?q?=F0=9F=AB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/deploy/pathplanner/TopGrid3PieceTaxi.path          | 6 +++---
 src/main/java/org/team1540/robot2023/Constants.java         | 4 ++--
 .../team1540/robot2023/commands/vision/TurnToGamePiece.java | 1 +
 .../org/team1540/robot2023/utils/swerve/ModuleCorner.java   | 4 ++--
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path b/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path
index 867cb1f..e344173 100644
--- a/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path
+++ b/src/main/deploy/pathplanner/TopGrid3PieceTaxi.path
@@ -24,15 +24,15 @@
     },
     {
       "anchorPoint": {
-        "x": 6.654269729684945,
+        "x": 6.55,
         "y": 4.576056676374828
       },
       "prevControl": {
-        "x": 5.805178456479655,
+        "x": 5.70090872679471,
         "y": 4.597962915155529
       },
       "nextControl": {
-        "x": 5.805178456479655,
+        "x": 5.70090872679471,
         "y": 4.597962915155529
       },
       "holonomicAngle": 180.0,
diff --git a/src/main/java/org/team1540/robot2023/Constants.java b/src/main/java/org/team1540/robot2023/Constants.java
index 1a6f4b5..c1be084 100644
--- a/src/main/java/org/team1540/robot2023/Constants.java
+++ b/src/main/java/org/team1540/robot2023/Constants.java
@@ -152,7 +152,7 @@ public static final class Swerve {
         /* Module Specific Constants */
         /* Front Left Module - Module 0 */
         public static final class Mod0 {
-            private static final int moduleID = 4;
+            private static final int moduleID = 1; //4
             public static final SwerveModuleConstants constants = new SwerveModuleConstants(moduleID, ModuleCorner.FRONT_LEFT);
         }
 
@@ -171,7 +171,7 @@ public static final class Mod2 {
 
         /* Back Right Module - Module 3 */
         public static final class Mod3 {
-            private static final int moduleID = 2;
+            private static final int moduleID = 5;
             public static final SwerveModuleConstants constants = new SwerveModuleConstants(moduleID, ModuleCorner.REAR_RIGHT);
         }
     }
diff --git a/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java b/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java
index c0a0fc0..de9415b 100644
--- a/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java
+++ b/src/main/java/org/team1540/robot2023/commands/vision/TurnToGamePiece.java
@@ -127,6 +127,7 @@ public void execute() {
             if(limelight.getTa() != 0 && limelight.getTclass().equals(gamepiece.identifier)){
                 System.out.println("SEEING GAME PIECE "); 
                 angleXOffset = limelight.getTx() - limelight.getTa() * -0.9;
+                
                 double gyroAngle = angleSupplier.getAsDouble();
                 pid.setSetpoint(gyroAngle + angleXOffset);//*-0.698-2.99);  //16 (very sketchy constant) + angleOffset for back camera
                 SmartDashboard.putBoolean("pointToTarget/turningWithLimelight", true);
diff --git a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java
index 95f18a9..edf0383 100644
--- a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java
+++ b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleCorner.java
@@ -6,10 +6,10 @@
  * Represents a corner of the robot. Used for calculating encoder offsets
  */
 public enum ModuleCorner {
-    FRONT_LEFT(0, "Front Left"),
+    FRONT_LEFT(90, "Front Left"),
     FRONT_RIGHT(90, "Front Right"),
     REAR_LEFT(180, "Rear Left"),
-    REAR_RIGHT(270, "Rear Right");
+    REAR_RIGHT(90, "Rear Right");
     private final double offset;
     public final String label;
     ModuleCorner(double offset, String label) {

From efd65543818fa45699e60b318a694a3e3dbb100a Mon Sep 17 00:00:00 2001
From: Alvin Zhang <41vin2h4n9@gmail.com>
Date: Wed, 20 Sep 2023 09:32:10 -0700
Subject: [PATCH 2/2] fix: module 1 offset

---
 .../org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java
index 4c3c3f5..244f321 100644
--- a/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java
+++ b/src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java
@@ -6,7 +6,7 @@
  */
 public class ModuleMagnetOffset {
     private static final double[] offsets = new double[]{
-            150.469, // Module 1
+            75.469, // Module 1
             91.318,  // Module 2
             256.729, // Module 3
             9.0,     // Module 4