Zynh0722/2024-crescendo-cpp
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moving the speed encoder

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Zynh Ludwig 2024-03-28 02:51:52 -07:00
parent ab69844906
commit 903c997ca6
1 changed files with 1 additions and 1 deletions
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src/main/cpp/cowlib/SwerveModule.cpp
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@ -31,12 +31,12 @@ SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit); this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit); this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
auto speedEncoder = this->driveMotor.GetEncoder();
double driveReduction = 1.0 / 6.75; double driveReduction = 1.0 / 6.75;
double wheelDiameter = 0.1016; double wheelDiameter = 0.1016;
double rotationsToDistance = double rotationsToDistance =
driveReduction * wheelDiameter * units::constants::detail::PI_VAL; driveReduction * wheelDiameter * units::constants::detail::PI_VAL;
auto speedEncoder = this->driveMotor.GetEncoder();
speedEncoder.SetPositionConversionFactor(rotationsToDistance); speedEncoder.SetPositionConversionFactor(rotationsToDistance);
speedEncoder.SetVelocityConversionFactor(rotationsToDistance / 60); speedEncoder.SetVelocityConversionFactor(rotationsToDistance / 60);
} }