Made code for offsetting all 4 modauls with one button, not working yet

2491-NoMythic · Feb 7, 2024 · 4749c92 · 4749c92
1 parent 25122f2
commit 4749c92
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -171,7 +171,7 @@ private void driveTrainInst() {
       () -> modifyAxis(-driverController.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
       () -> modifyAxis(-driverController.getRawAxis(X_AXIS), DEADBAND_NORMAL),
       () -> modifyAxis(-driverController.getRawAxis(Z_AXIS), DEADBAND_NORMAL));
-    driveTrain.setDefaultCommand(defaultDriveCommand);
+      driveTrain.setDefaultCommand(defaultDriveCommand);
   }
   private void shooterInst() {
     shooter = new ShooterSubsystem(ShooterConstants.SHOOTER_MOTOR_POWER);
@@ -249,7 +249,7 @@ private void configureBindings() {
       new Trigger(operatorController::getTriangleButton).onTrue(new InstantCommand(()-> climber.climberGo(ClimberConstants.CLIMBER_SPEED_UP))).onFalse(new InstantCommand(()-> climber.climberStop()));
       new Trigger(operatorController::getSquareButton).onTrue(new ClimberPullDown(climber));
     }
-    SmartDashboard.putData(new InstantCommand(driveTrain::setEncoderOffsets));
+    SmartDashboard.putData("set offsets", new InstantCommand(driveTrain::setEncoderOffsets));
 
     // //Intake bindings
     // new Trigger(operatorController::getL1Button).onTrue(new IntakeCommand(intake, iDirection.INTAKE));

diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -112,7 +112,7 @@ public double getTargetAngle() {
  */
   public double findOffset() {
     return MathUtil.inputModulus(
-      (m_steerEncoder.getPosition().getValue()-m_steerEncoderOffset.getRotations()),
+      (m_steerEncoder.getPosition().getValue()+m_steerEncoderOffset.getRotations()),
       -0.5,
       0.5);
   }