Formatting and Python TunerConstants fix

CrossTheRoadElec · Oct 25, 2024 · 1db713d · 1db713d
1 parent 3062e64
commit 1db713d
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Showing 2 changed files with 31 additions and 32 deletions.
diff --git a/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp b/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp
@@ -12,7 +12,6 @@ Robot::Robot() {}
 void Robot::RobotPeriodic() {
   frc2::CommandScheduler::GetInstance().Run();
 
-
   /**
    * This example of adding Limelight is very simple and may not be sufficient for on-field use.
    * Users typically need to provide a standard deviation that scales with the distance to target

diff --git a/python/SwerveWithPathPlanner/generated/tuner_constants.py b/python/SwerveWithPathPlanner/generated/tuner_constants.py
@@ -63,20 +63,20 @@ class TunerConstants:
 
     # Theoretical free speed (m/s) at 12 V applied output;
     # This needs to be tuned to your individual robot
-    speed_at_12_volts: units.meters_per_second = 4.73
+    speed_at_12_volts: units.meters_per_second = 4.70
 
     # Every 1 rotation of the azimuth results in _couple_ratio drive motor turns;
     # This may need to be tuned to your individual robot
-    _couple_ratio = 3.5714285714285716
+    _couple_ratio = 3.5
 
-    _drive_gear_ratio = 6.746031746031747
+    _drive_gear_ratio = 7.363636364
     _steer_gear_ratio = 12.8
     _wheel_radius: units.meter = inchesToMeters(2.167)
 
     _invert_left_side = False
     _invert_right_side = True
 
-    _canbus = CANBus("*", "./logs/example.hoot")
+    _canbus = CANBus("rio", "./logs/example.hoot")
     _pigeon_id = 1
 
     # These are only used for simulation
@@ -116,44 +116,44 @@ class TunerConstants:
     )
 
     # Front Left
-    _front_left_drive_motor_id = 4
-    _front_left_steer_motor_id = 3
-    _front_left_encoder_id = 3
-    _front_left_encoder_offset: units.rotation = -0.470458984375
-    _front_left_steer_motor_inverted = False
+    _front_left_drive_motor_id = 5
+    _front_left_steer_motor_id = 4
+    _front_left_encoder_id = 2
+    _front_left_encoder_offset: units.rotation = -0.83544921875
+    _front_left_steer_motor_inverted = True
 
-    _front_left_x_pos: units.meter = inchesToMeters(10)
-    _front_left_y_pos: units.meter = inchesToMeters(10)
+    _front_left_x_pos: units.meter = inchesToMeters(10.5)
+    _front_left_y_pos: units.meter = inchesToMeters(10.5)
 
     # Front Right
-    _front_right_drive_motor_id = 2
-    _front_right_steer_motor_id = 1
-    _front_right_encoder_id = 0
-    _front_right_encoder_offset: units.rotation = -0.051025390625
-    _front_right_steer_motor_inverted = False
+    _front_right_drive_motor_id = 7
+    _front_right_steer_motor_id = 6
+    _front_right_encoder_id = 3
+    _front_right_encoder_offset: units.rotation = -0.15234375
+    _front_right_steer_motor_inverted = True
 
-    _front_right_x_pos: units.meter = inchesToMeters(10)
-    _front_right_y_pos: units.meter = inchesToMeters(-10)
+    _front_right_x_pos: units.meter = inchesToMeters(10.5)
+    _front_right_y_pos: units.meter = inchesToMeters(-10.5)
 
     # Back Left
-    _back_left_drive_motor_id = 0
-    _back_left_steer_motor_id = 7
-    _back_left_encoder_id = 2
-    _back_left_encoder_offset: units.rotation = 0.237548828125
-    _back_left_steer_motor_inverted = False
+    _back_left_drive_motor_id = 1
+    _back_left_steer_motor_id = 0
+    _back_left_encoder_id = 0
+    _back_left_encoder_offset: units.rotation = -0.4794921875
+    _back_left_steer_motor_inverted = True
 
-    _back_left_x_pos: units.meter = inchesToMeters(-10)
-    _back_left_y_pos: units.meter = inchesToMeters(10)
+    _back_left_x_pos: units.meter = inchesToMeters(-10.5)
+    _back_left_y_pos: units.meter = inchesToMeters(10.5)
 
     # Back Right
-    _back_right_drive_motor_id = 6
-    _back_right_steer_motor_id = 5
+    _back_right_drive_motor_id = 3
+    _back_right_steer_motor_id = 2
     _back_right_encoder_id = 1
-    _back_right_encoder_offset: units.rotation = -0.438720703125
-    _back_right_steer_motor_inverted = False
+    _back_right_encoder_offset: units.rotation = -0.84130859375
+    _back_right_steer_motor_inverted = True
 
-    _back_right_x_pos: units.meter = inchesToMeters(-10)
-    _back_right_y_pos: units.meter = inchesToMeters(-10)
+    _back_right_x_pos: units.meter = inchesToMeters(-10.5)
+    _back_right_y_pos: units.meter = inchesToMeters(-10.5)
 
     front_left = _constants_creator.create_module_constants(
         _front_left_steer_motor_id,