fixed swerve offsets

FRC830 · Dec 15, 2024 · 35bbac2 · 35bbac2
1 parent da050b9
commit 35bbac2
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
@@ -12,7 +12,7 @@
 // --------------------Absolute Encoder-----------------------
 const int FL_ABS_ENC_PORT = 6;
 const bool FL_ABS_ENC_INVERTED = false;
-const frc::Rotation2d FL_ZERO_HEADING{units::degree_t{301.6f}};
+const frc::Rotation2d FL_ZERO_HEADING{units::degree_t{0.582031f*360.0f}};
 
 ctre::phoenix6::hardware::CANcoder fl_abs_enc{FL_ABS_ENC_PORT};
 
@@ -39,7 +39,7 @@ rev::SparkPIDController fl_drive_pid = fl_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int FR_ABS_ENC_PORT = 12;
 const bool FR_ABS_ENC_INVERTED = false;
-const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{92.94f}};
+const frc::Rotation2d FR_ZERO_HEADING{units::degree_t{-0.355469f*360.0f}};
 
 ctre::phoenix6::hardware::CANcoder fr_abs_enc{FR_ABS_ENC_PORT};
 
@@ -66,7 +66,7 @@ rev::SparkPIDController fr_drive_pid = fr_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int BL_ABS_ENC_PORT = 3;
 const bool BL_ABS_ENC_INVERTED = false;
-const frc::Rotation2d BL_ZERO_HEADING{units::degree_t{221.6f}};
+const frc::Rotation2d BL_ZERO_HEADING{units::degree_t{0.864990f*360.0f}};
 
 ctre::phoenix6::hardware::CANcoder bl_abs_enc{BL_ABS_ENC_PORT};
 
@@ -94,7 +94,7 @@ rev::SparkPIDController bl_drive_pid = bl_drive_mtr.GetPIDController();
 // --------------------Absolute Encoder-----------------------
 const int BR_ABS_ENC_PORT = 9;
 const bool BR_ABS_ENC_INVERTED = false;
-const frc::Rotation2d BR_ZERO_HEADING{units::degree_t{345.0f}};
+const frc::Rotation2d BR_ZERO_HEADING{units::degree_t{0.306152f*360.0f}};
 
 ctre::phoenix6::hardware::CANcoder br_abs_enc{BR_ABS_ENC_PORT};