ports + the funny

SciBorgs · Jan 16, 2024 · 03e6fce · 03e6fce
1 parent 1c341d0
commit 03e6fce
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Showing 4 changed files with 20 additions and 10 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -4,6 +4,13 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
+    {
+      "type": "java",
+      "name": "FlexModule",
+      "request": "launch",
+      "mainClass": "org.sciborgs1155.robot.drive.FlexModule",
+      "projectName": "Hydrogen"
+    },
     {
       "type": "java",
       "name": "TalonSwerveModule",

diff --git a/src/main/java/org/sciborgs1155/robot/Ports.java b/src/main/java/org/sciborgs1155/robot/Ports.java
@@ -7,14 +7,14 @@ public static final class OI {
   }
 
   public static final class Drive {
-    public static final int FRONT_LEFT_DRIVE = 1;
-    public static final int REAR_LEFT_DRIVE = 38;
-    public static final int FRONT_RIGHT_DRIVE = 32;
-    public static final int REAR_RIGHT_DRIVE = 5;
+    public static final int FRONT_LEFT_DRIVE = 4;
+    public static final int REAR_LEFT_DRIVE = 1;
+    public static final int FRONT_RIGHT_DRIVE = 2;
+    public static final int REAR_RIGHT_DRIVE = 3;
 
-    public static final int FRONT_LEFT_TURNING = 31;
-    public static final int REAR_LEFT_TURNING = 36;
-    public static final int FRONT_RIGHT_TURNING = 3;
-    public static final int REAR_RIGHT_TURNING = 40;
+    public static final int FRONT_LEFT_TURNING = 22;
+    public static final int REAR_LEFT_TURNING = 16;
+    public static final int FRONT_RIGHT_TURNING = 44;
+    public static final int REAR_RIGHT_TURNING = 23;
   }
 }
diff --git a/src/main/java/org/sciborgs1155/robot/drive/Drive.java b/src/main/java/org/sciborgs1155/robot/drive/Drive.java
@@ -71,7 +71,7 @@ public class Drive extends SubsystemBase implements Logged, AutoCloseable {
   public static Drive create() {
     return Robot.isReal()
         ? new Drive(
-            new FlexModule(FRONT_LEFT_TURNING, FRONT_LEFT_DRIVE, ANGULAR_OFFSETS.get(0)),
+            new FlexModule(FRONT_LEFT_DRIVE, FRONT_LEFT_TURNING, ANGULAR_OFFSETS.get(0)),
             new FlexModule(FRONT_RIGHT_DRIVE, FRONT_RIGHT_TURNING, ANGULAR_OFFSETS.get(1)),
             new FlexModule(REAR_LEFT_DRIVE, REAR_LEFT_TURNING, ANGULAR_OFFSETS.get(2)),
             new FlexModule(REAR_RIGHT_DRIVE, REAR_RIGHT_TURNING, ANGULAR_OFFSETS.get(3)))
@@ -223,11 +223,13 @@ public double getPitch() {
   }
 
   /** Returns the module states. */
+  @Log.NT
   private SwerveModuleState[] getModuleStates() {
     return modules.stream().map(SwerveModule::state).toArray(SwerveModuleState[]::new);
   }
 
   /** Returns the module positions */
+  @Log.NT
   private SwerveModulePosition[] getModulePositions() {
     return modules.stream().map(SwerveModule::position).toArray(SwerveModulePosition[]::new);
   }

diff --git a/src/main/java/org/sciborgs1155/robot/drive/FlexModule.java b/src/main/java/org/sciborgs1155/robot/drive/FlexModule.java
@@ -7,6 +7,7 @@
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkAbsoluteEncoder;
 import com.revrobotics.SparkAbsoluteEncoder.Type;
@@ -41,7 +42,7 @@ public FlexModule(int drivePort, int turnPort, Rotation2d angularOffset) {
     driveMotor.setIdleMode(IdleMode.kBrake);
     driveMotor.setSmartCurrentLimit((int) Driving.CURRENT_LIMIT.in(Amps));
 
-    turnMotor = new CANSparkFlex(turnPort, MotorType.kBrushless);
+    turnMotor = new CANSparkMax(turnPort, MotorType.kBrushless);
     turnMotor.restoreFactoryDefaults();
     turnMotor.setInverted(false);
     turnMotor.setIdleMode(IdleMode.kBrake);