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Re-add delay for motor init on MK4i modules #58

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Re-add delay for motor init on MK4i modules #58

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11f0f8c
Update Swerve.java
realjoshuau Feb 27, 2024
b83d7bb
Update Swerve.java
realjoshuau Feb 27, 2024
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11 changes: 10 additions & 1 deletion src/main/java/frc/robot/subsystems/Swerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.Timer;

public class Swerve extends SubsystemBase {
public SwerveDriveOdometry swerveOdometry;
Expand All @@ -35,6 +36,14 @@ public Swerve() {
new SwerveModule(3, Constants.Swerve.Mod3.constants)
};

/*
* By pausing init for a second before setting module offsets, we avoid a bug
* with inverting motors.
* See https://github.com/Team364/BaseFalconSwerve/issues/8 for more info.
*/
Timer.delay(1.0);
resetModulesToAbsolute();

swerveOdometry = new SwerveDriveOdometry(Constants.Swerve.swerveKinematics, getGyroYaw(), getModulePositions());
}

Expand Down Expand Up @@ -124,4 +133,4 @@ public void periodic(){
SmartDashboard.putNumber("Mod " + mod.moduleNumber + " Velocity", mod.getState().speedMetersPerSecond);
}
}
}
}