Update configs for first tests

robototes · Feb 11, 2024 · e5c368a · e5c368a
1 parent a5f2c73
commit e5c368a
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Showing 6 changed files with 19 additions and 19 deletions.
diff --git a/src/main/deploy/practiceswerve/modules/backleft.json b/src/main/deploy/practiceswerve/modules/backleft.json
@@ -3,21 +3,21 @@
     "front": -12.5,
     "left": 12.5
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 176.30859375,
   "drive": {
     "type": "falcon",
     "id": 7,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 8,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 9,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,

diff --git a/src/main/deploy/practiceswerve/modules/backright.json b/src/main/deploy/practiceswerve/modules/backright.json
@@ -3,21 +3,21 @@
     "front": -12.5,
     "left": -12.5
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 161.01562500000003,
   "drive": {
     "type": "falcon",
     "id": 10,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 11,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 12,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,

diff --git a/src/main/deploy/practiceswerve/modules/frontleft.json b/src/main/deploy/practiceswerve/modules/frontleft.json
@@ -3,21 +3,21 @@
     "front": 12.5,
     "left": 12.5
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 314.47109375000002,
   "drive": {
     "type": "falcon",
     "id": 1,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 2,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 3,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,

diff --git a/src/main/deploy/practiceswerve/modules/frontright.json b/src/main/deploy/practiceswerve/modules/frontright.json
@@ -3,21 +3,21 @@
     "front": 12.5,
     "left": -12.5
   },
-  "absoluteEncoderOffset": 0,
+  "absoluteEncoderOffset": 208.47476562500003,
   "drive": {
     "type": "falcon",
     "id": 4,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "angle": {
     "type": "falcon",
     "id": 5,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "encoder": {
     "type": "cancoder",
     "id": 6,
-    "canbus": null
+    "canbus": "Drivebase"
   },
   "inverted": {
     "drive": false,

diff --git a/src/main/deploy/practiceswerve/swervedrive.json b/src/main/deploy/practiceswerve/swervedrive.json
@@ -2,9 +2,9 @@
   "imu": {
     "type": "pigeon2",
     "id": 13,
-    "canbus": null
+    "canbus": "Drivebase"
   },
-  "invertedIMU": true,
+  "invertedIMU": false,
   "modules": [
     "frontleft.json",
     "frontright.json",

diff --git a/src/main/java/frc/team2412/robot/subsystems/DrivebaseSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/DrivebaseSubsystem.java
@@ -130,7 +130,7 @@ public DrivebaseSubsystem() {
 
 		// LOW verbosity only sends field position, HIGH sends full drive data, MACHINE sends data
 		// viewable by AdvantageScope
-		SwerveDriveTelemetry.verbosity = TelemetryVerbosity.LOW;
+		SwerveDriveTelemetry.verbosity = TelemetryVerbosity.MACHINE;
 	}
 
 	/**