Shrimp swerve drive map#53
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Liammurray19 wants to merge 2 commits into
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bot190
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Aug 9, 2024
| rearLeftSteer.getMotorController().setSmartCurrentLimit(30); | ||
| rearRightSteer.getMotorController().setSmartCurrentLimit(30); | ||
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| // Configuration for MK4i with L2 speeds |
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Shrimp is going to have MK4 modules not MK4i. Still L2 speeds.
This will also impact the motor inverting since the motors are mounted the other direction on the MK4.
| final SDSSwerveModule rearRight = new SDSSwerveModule(new Translation2d(-MODULE_OFFSET_XY, -MODULE_OFFSET_XY), | ||
| new CtreEncoder(encoderRR), rearRightSteer, rearRightDrive, MK4i_L2); | ||
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| final double maxDriveSpeedMetersPerSecond = Units.feetToMeters(14.5); |
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We should probably derive this from the swerve module config, but the max speed is definitely not this fast since we're only using NEOs not Vortexes.
bot190
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Aug 14, 2024
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This looks good now. Not sure there's any reason to merge this until we have the actual robot and can set the gyro offsets and such.
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