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S0L0GUYFRCTeam3255-Shared-K1-10alicekuznetsov
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Protobot swofsets (#489)
* Update RobotMap.java * Update SuperCORE * Update Constants.java * Update Constants.java * Updated some protobot stuff * Reversed Rotation For Practice Bot * Update DriveManual.java Co-Authored-By: Evan Grinnell <worldevan8@gmail.com> * Swoffsets * Revert rotation invert * PROPERLY revert the inversion thing ahfiuwafhiuwa --------- Co-authored-by: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared-K1-10@users.noreply.github.com> Co-authored-by: ACat701 <90939494+alicekuznetsov@users.noreply.github.com>
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-46
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6 files changed

+42
-46
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‎.roboRIOTeamNumberSetter/roborioteamnumbersetter.json‎

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{
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"TeamNumber": 3255
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}

‎src/main/java/frc/robot/Constants.java‎

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@@ -80,23 +80,24 @@ public static class PRACTICE_BOT {
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SN_SwerveConstants.MK4I.FALCON.L2.driveGearRatio,
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SN_SwerveConstants.MK4I.FALCON.L2.maxSpeedMeters);
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public static final double BACK_RIGHT_ABS_ENCODER_OFFSET = -0.109375;
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public static final double BACK_LEFT_ABS_ENCODER_OFFSET = -0.066406;
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public static final double FRONT_RIGHT_ABS_ENCODER_OFFSET = -0.049316;
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public static final double FRONT_LEFT_ABS_ENCODER_OFFSET = 0.314209;
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public static final double BACK_RIGHT_ABS_ENCODER_OFFSET = -0.108398;
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public static final double BACK_LEFT_ABS_ENCODER_OFFSET = 0.752197;
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public static final double FRONT_RIGHT_ABS_ENCODER_OFFSET = -0.055420;
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public static final double FRONT_LEFT_ABS_ENCODER_OFFSET = -0.679443;
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public static SN_SwerveModule[] MODULES = new SN_SwerveModule[] {
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new SN_SwerveModule(0, mapDrivetrain.FRONT_LEFT_DRIVE_CAN, mapDrivetrain.FRONT_LEFT_STEER_CAN,
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mapDrivetrain.FRONT_LEFT_ABSOLUTE_ENCODER_CAN,
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constDrivetrain.PRACTICE_BOT.FRONT_LEFT_ABS_ENCODER_OFFSET),
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constDrivetrain.PRACTICE_BOT.FRONT_LEFT_ABS_ENCODER_OFFSET, mapDrivetrain.PRACTICE_BOT_CAN_BUS_NAME),
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new SN_SwerveModule(1, mapDrivetrain.FRONT_RIGHT_DRIVE_CAN, mapDrivetrain.FRONT_RIGHT_STEER_CAN,
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mapDrivetrain.FRONT_RIGHT_ABSOLUTE_ENCODER_CAN,
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constDrivetrain.PRACTICE_BOT.FRONT_RIGHT_ABS_ENCODER_OFFSET),
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constDrivetrain.PRACTICE_BOT.FRONT_RIGHT_ABS_ENCODER_OFFSET, mapDrivetrain.PRACTICE_BOT_CAN_BUS_NAME),
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new SN_SwerveModule(2, mapDrivetrain.BACK_LEFT_DRIVE_CAN, mapDrivetrain.BACK_LEFT_STEER_CAN,
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mapDrivetrain.BACK_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.PRACTICE_BOT.BACK_LEFT_ABS_ENCODER_OFFSET),
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mapDrivetrain.BACK_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.PRACTICE_BOT.BACK_LEFT_ABS_ENCODER_OFFSET,
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mapDrivetrain.PRACTICE_BOT_CAN_BUS_NAME),
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new SN_SwerveModule(3, mapDrivetrain.BACK_RIGHT_DRIVE_CAN, mapDrivetrain.BACK_RIGHT_STEER_CAN,
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mapDrivetrain.BACK_RIGHT_ABSOLUTE_ENCODER_CAN,
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constDrivetrain.PRACTICE_BOT.BACK_RIGHT_ABS_ENCODER_OFFSET),
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constDrivetrain.PRACTICE_BOT.BACK_RIGHT_ABS_ENCODER_OFFSET, mapDrivetrain.PRACTICE_BOT_CAN_BUS_NAME),
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};
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}
@@ -139,13 +140,17 @@ public static class PRACTICE_BOT {
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public static SN_SwerveModule[] MODULES = new SN_SwerveModule[] {
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new SN_SwerveModule(0, mapDrivetrain.FRONT_LEFT_DRIVE_CAN, mapDrivetrain.FRONT_LEFT_STEER_CAN,
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mapDrivetrain.FRONT_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_LEFT_ABS_ENCODER_OFFSET),
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mapDrivetrain.FRONT_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_LEFT_ABS_ENCODER_OFFSET,
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mapDrivetrain.CAN_BUS_NAME),
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new SN_SwerveModule(1, mapDrivetrain.FRONT_RIGHT_DRIVE_CAN, mapDrivetrain.FRONT_RIGHT_STEER_CAN,
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mapDrivetrain.FRONT_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_RIGHT_ABS_ENCODER_OFFSET),
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mapDrivetrain.FRONT_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_RIGHT_ABS_ENCODER_OFFSET,
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mapDrivetrain.CAN_BUS_NAME),
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new SN_SwerveModule(2, mapDrivetrain.BACK_LEFT_DRIVE_CAN, mapDrivetrain.BACK_LEFT_STEER_CAN,
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mapDrivetrain.BACK_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_LEFT_ABS_ENCODER_OFFSET),
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mapDrivetrain.BACK_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_LEFT_ABS_ENCODER_OFFSET,
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mapDrivetrain.CAN_BUS_NAME),
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new SN_SwerveModule(3, mapDrivetrain.BACK_RIGHT_DRIVE_CAN, mapDrivetrain.BACK_RIGHT_STEER_CAN,
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mapDrivetrain.BACK_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_RIGHT_ABS_ENCODER_OFFSET),
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mapDrivetrain.BACK_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_RIGHT_ABS_ENCODER_OFFSET,
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mapDrivetrain.CAN_BUS_NAME),
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};
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// Physically measured from center to center of the wheels

‎src/main/java/frc/robot/RobotMap.java‎

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@@ -12,6 +12,7 @@ public static class mapControllers {
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}
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public static class mapDrivetrain {
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public static final String PRACTICE_BOT_CAN_BUS_NAME = "rio";
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public static final String CAN_BUS_NAME = "Swerve";
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public static final int PIGEON_CAN = 0;
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‎src/main/java/frc/robot/commands/DriveManual.java‎

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import frc.robot.subsystems.StateMachine.DriverState;
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import frc.robot.Constants;
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import frc.robot.Constants.*;
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import frc.robot.RobotContainer;
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import frc.robot.subsystems.AlgaeIntake;
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import frc.robot.subsystems.Drivetrain;
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‎src/main/java/frc/robot/subsystems/Drivetrain.java‎

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@@ -8,7 +8,6 @@
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import static edu.wpi.first.units.Units.MetersPerSecond;
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import static edu.wpi.first.units.Units.RadiansPerSecond;
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import java.lang.Thread.State;
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import java.util.List;
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import com.frcteam3255.components.swerve.SN_SuperSwerve;
@@ -32,26 +31,12 @@
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.Robot;
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import frc.robot.RobotContainer;
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import frc.robot.Constants;
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import frc.robot.Constants.*;
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import frc.robot.RobotMap.mapDrivetrain;
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import frc.robot.subsystems.*;
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import frc.robot.subsystems.StateMachine.DriverState;
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@Logged
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public class Drivetrain extends SN_SuperSwerve {
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private static SN_SwerveModule[] modules = new SN_SwerveModule[] {
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new SN_SwerveModule(0, mapDrivetrain.FRONT_LEFT_DRIVE_CAN, mapDrivetrain.FRONT_LEFT_STEER_CAN,
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mapDrivetrain.FRONT_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_LEFT_ABS_ENCODER_OFFSET),
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new SN_SwerveModule(1, mapDrivetrain.FRONT_RIGHT_DRIVE_CAN, mapDrivetrain.FRONT_RIGHT_STEER_CAN,
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mapDrivetrain.FRONT_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.FRONT_RIGHT_ABS_ENCODER_OFFSET),
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new SN_SwerveModule(2, mapDrivetrain.BACK_LEFT_DRIVE_CAN, mapDrivetrain.BACK_LEFT_STEER_CAN,
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mapDrivetrain.BACK_LEFT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_LEFT_ABS_ENCODER_OFFSET),
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new SN_SwerveModule(3, mapDrivetrain.BACK_RIGHT_DRIVE_CAN, mapDrivetrain.BACK_RIGHT_STEER_CAN,
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mapDrivetrain.BACK_RIGHT_ABSOLUTE_ENCODER_CAN, constDrivetrain.BACK_RIGHT_ABS_ENCODER_OFFSET),
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};
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Pose2d desiredAlignmentPose = Pose2d.kZero;
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SwerveModuleState[] desiredModuleStates;
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SwerveModuleState[] actualModuleStates;
@@ -65,7 +50,8 @@ public Drivetrain() {
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: constDrivetrain.MODULES,
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constDrivetrain.WHEELBASE,
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constDrivetrain.TRACK_WIDTH,
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mapDrivetrain.CAN_BUS_NAME,
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(RobotContainer.isPracticeBot()) ? mapDrivetrain.PRACTICE_BOT_CAN_BUS_NAME
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: mapDrivetrain.CAN_BUS_NAME,
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mapDrivetrain.PIGEON_CAN,
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constDrivetrain.MIN_STEER_PERCENT,
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constDrivetrain.DRIVE_MOTOR_INVERT,

‎vendordeps/SuperCORE.json‎

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{
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"fileName": "SuperCORE.json",
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"name": "SuperCORE",
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"version": "2025.1.0",
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"frcYear": 2025,
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"uuid": "f82a9412-6f53-4bc0-960c-6895a5236f57",
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"mavenUrls": [
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"https://frcteam3255.github.io/SuperCORE/releases/"
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],
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"jsonUrl": "https://frcteam3255.github.io/SuperCORE/releases/com/frcteam3255/supercore/SuperCORE-latest.json",
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"javaDependencies": [
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{
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"groupId": "com.frcteam3255",
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"artifactId": "supercore",
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"version": "2025.1.0"
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}
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],
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"jniDependencies": [],
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"cppDependencies": []
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"fileName": "SuperCORE.json",
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"name": "SuperCORE",
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"version": "2025.2.0",
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"frcYear": 2025,
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"uuid": "f82a9412-6f53-4bc0-960c-6895a5236f57",
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"mavenUrls": [
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"https://frcteam3255.github.io/SuperCORE/releases/"
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],
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"jsonUrl": "https://frcteam3255.github.io/SuperCORE/releases/com/frcteam3255/supercore/SuperCORE-latest.json",
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"javaDependencies": [
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{
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"groupId": "com.frcteam3255",
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"artifactId": "supercore",
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"version": "2025.2.0"
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}
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],
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"jniDependencies": [],
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"cppDependencies": []
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}

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