Merge branch 'main' into shuffleboard-alignment

src/main/deploy/swerve/controllerproperties.json

@@ -1,8 +1,8 @@
 {
   "angleJoystickRadiusDeadband": 0.5,
   "heading": {
-    "p": 0.4,
+    "p": 0.5,
     "i": 0,
-    "d": 0
+    "d": 0.05
   }
 }

src/main/deploy/swerve/modules/README.txt

@@ -0,0 +1,24 @@
+I modifed how PID, kS, kV, and kA values are passed to the modules.
+Instead of using pidfproperties.json, pass the values into the module config josns themselves
+Use:
+
+"driveTuning": {
+    "p": 0,
+    "i": 0,
+    "d": 0,
+    "kS": 0,
+    "kV": 0,
+    "kA": 0
+},
+"angleTuning": {
+    "p": 0,
+    "i": 0,
+    "d": 0,
+    "kS": 0,
+    "kV": 0,
+    "kA": 0
+}
+
+in the module json config files. If the pidfproperties.json file is missing or its p value is 0, then the Swerve Drive will use these tuning configuration values instead.
+
+- Jonah Kowal

src/main/deploy/swerve/modules/backleft.json

@@ -1,30 +1,42 @@
 {
   "location": {
-    "front": -8.5,
-    "left": 8.5
+    "front": -12.5,
+    "left": 12.5
   },
-  "absoluteEncoderOffset": 206.191,
+  "absoluteEncoderOffset": 221.47476562500003,
   "drive": {
     "type": "falcon",
-    "id": 7,
-    "canbus": null
+    "id": 10,
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
-    "id": 8,
-    "canbus": null
-  },
-  "conversionFactor": {
-    "angle": 0.01373291,
-    "drive": 0.000019146492
+    "id": 11,
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
-    "id": 9,
-    "canbus": null
+    "id": 12,
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,
     "angle": false
+  },
+  "driveTuning": {
+    "p": 0.0036753,
+    "i": 0,
+    "d": 0,
+    "kS": 0.18532,
+    "kV": 0.347198082,
+    "kA": 0.28447
+  },
+  "angleTuning": {
+    "p": 68.706,
+    "i": 0,
+    "d": 4.8261,
+    "kS": 0.17859,
+    "kV": 2.2193,
+    "kA": 0.13188
   }
 }

src/main/deploy/swerve/modules/backright.json

@@ -1,30 +1,42 @@
 {
   "location": {
-    "front": -8.5,
-    "left": -8.5
+    "front": -12.5,
+    "left": -12.5
   },
-  "absoluteEncoderOffset": 309.99,
+  "absoluteEncoderOffset": 173.47109375000002,
   "drive": {
     "type": "falcon",
-    "id": 10,
-    "canbus": null
+    "id": 7,
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
-    "id": 11,
-    "canbus": null
-  },
-  "conversionFactor": {
-    "angle": 0.01373291,
-    "drive": 0.000019146492
+    "id": 8,
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
-    "id": 12,
-    "canbus": null
+    "id": 9,
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,
     "angle": false
+  },
+  "driveTuning": {
+    "p": 0.055241,
+    "i": 0,
+    "d": 0,
+    "kS": 0.15508,
+    "kV": 0.35947706641,
+    "kA": 0.26534
+  },
+  "angleTuning": {
+    "p": 68.04,
+    "i": 0,
+    "d": 4.2632,
+    "kS": 0.19684,
+    "kV": 2.2497,
+    "kA": 0.07772
   }
 }

src/main/deploy/swerve/modules/frontleft.json

@@ -1,30 +1,42 @@
 {
   "location": {
-    "front": 8.5,
-    "left": 8.5
+    "front": 12.5,
+    "left": 12.5
   },
-  "absoluteEncoderOffset": 524.971,
+  "absoluteEncoderOffset": 340.01562500000003,
   "drive": {
     "type": "falcon",
     "id": 1,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 2,
-    "canbus": null
-  },
-  "conversionFactor": {
-    "angle": 0.01373291,
-    "drive": 0.000019146492
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 3,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,
     "angle": false
+  },
+  "driveTuning": {
+    "p": 0.087084,
+    "i": 0,
+    "d": 0,
+    "kS": 0.026162,
+    "kV": 0.3849384,
+    "kA": 0.39611
+  },
+  "angleTuning": {
+    "p": 69.289,
+    "i": 0,
+    "d": 6.5371,
+    "kS": 0.1762,
+    "kV": 2.2121,
+    "kA": 0.32267
   }
 }