Make forwards intake side

StuyPulse · Jan 23, 2024 · 6709023 · 6709023
1 parent ea2b8cb
commit 6709023
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Showing 4 changed files with 14 additions and 16 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -74,10 +74,10 @@ private void configureDefaultCommands() {
     /***************/
 
     private void configureButtonBindings() {
-        driver.getDPadUp().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(180)));
-        driver.getDPadDown().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(0)));
-        driver.getDPadLeft().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(270)));
-        driver.getDPadRight().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(90)));
+        driver.getDPadUp().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(0)));
+        driver.getDPadDown().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(180)));
+        driver.getDPadLeft().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(90)));
+        driver.getDPadRight().onTrue(new SwerveDriveResetHeading(Rotation2d.fromDegrees(270)));
 
         driver.getRightTriggerButton()
             .whileTrue(new IntakeAcquire())

diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java
@@ -14,25 +14,25 @@ public interface Gamepad {
     }
 
     public interface Swerve {
-        public interface FrontRight {
+        public interface BackLeft {
             int DRIVE = 10;
             int TURN = 11;
             int ENCODER = 2;
         }
 
-        public interface FrontLeft {
+        public interface BackRight {
             int DRIVE = 12;
             int TURN = 13;
             int ENCODER = 1;
         }
 
-        public interface BackLeft {
+        public interface FrontRight {
             int DRIVE = 14;
             int TURN = 15;
             int ENCODER = 4;
         }
 
-        public interface BackRight {
+        public interface FrontLeft {
             int DRIVE = 16;
             int TURN = 17;
             int ENCODER = 3;

diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -80,29 +80,25 @@ public interface Motion {
 
  		public interface FrontRight {
             String ID = "Front Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(65.566406);
-                // .plus(Rotation2d.fromDegrees(0));
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(208.212891 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5);
         }
 
         public interface FrontLeft {
             String ID = "Front Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(47.197266);
-                // .plus(Rotation2d.fromDegrees(270));
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(154.511719 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * +0.5);
         }
 
         public interface BackLeft {
             String ID = "Back Left";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(208.212891);
-                // .plus(Rotation2d.fromDegrees(180));
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(65.566406 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * +0.5);
         }
 
         public interface BackRight {
             String ID = "Back Right";
-            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(154.511719);
-                // .plus(Rotation2d.fromDegrees(90));
+            Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(47.197266 + 180);
             Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5);
         }
 

diff --git a/src/main/java/com/stuypulse/robot/subsystems/odometry/Odometry.java b/src/main/java/com/stuypulse/robot/subsystems/odometry/Odometry.java
@@ -99,6 +99,8 @@ public void periodic() {
 
         odometryPose2D.setPose(odometry.getPoseMeters());
         estimatorPose2D.setPose(estimator.getEstimatedPosition());
+
+        updateTelemetry();
     }
 
     @Override