Zynh0722/2024-crescendo-cpp
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scaling factors

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Zynh Ludwig 2024-03-28 02:38:17 -07:00
parent dc0f99ad48
commit ab69844906
1 changed files with 10 additions and 0 deletions
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src/main/cpp/cowlib/SwerveModule.cpp
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@ -8,6 +8,7 @@
#include "frc/kinematics/SwerveModuleState.h"
#include "rev/CANSparkMax.h"
#include "units/angle.h"
#include "units/base.h"
#include "units/voltage.h"
#include "cowlib/SwerveModule.h"
@ -29,6 +30,15 @@ SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
auto speedEncoder = this->driveMotor.GetEncoder();
double driveReduction = 1.0 / 6.75;
double wheelDiameter = 0.1016;
double rotationsToDistance =
driveReduction * wheelDiameter * units::constants::detail::PI_VAL;
speedEncoder.SetPositionConversionFactor(rotationsToDistance);
speedEncoder.SetVelocityConversionFactor(rotationsToDistance / 60);
}
void SwerveModule::drive(double speedMetersPerSecond, double angle) {