Merge branch 'main' into virtualLimelight

Author: mebrahimaleem

src/main/java/frc/robot/Constants.java

@@ -49,20 +49,20 @@ public static final class IOConstants {
 
   public static final class DriveConstants {
     // TODO: set motor and encoder constants
-    public static final int kFrontLeftDriveMotorPort = 4;
-    public static final int kRearLeftDriveMotorPort = 5;
-    public static final int kFrontRightDriveMotorPort = 12;
+    public static final int kFrontLeftDriveMotorPort = 32;
+    public static final int kRearLeftDriveMotorPort = 29;
+    public static final int kFrontRightDriveMotorPort = 36;
     public static final int kRearRightDriveMotorPort = 34;
 
-    public static final int kFrontLeftTurningMotorPort = 11;
-    public static final int kRearLeftTurningMotorPort = 9;
-    public static final int kFrontRightTurningMotorPort = 36;
-    public static final int kRearRightTurningMotorPort = 16;
+    public static final int kFrontLeftTurningMotorPort = 28;
+    public static final int kRearLeftTurningMotorPort = 22;
+    public static final int kFrontRightTurningMotorPort = 37;
+    public static final int kRearRightTurningMotorPort = 26;
 
-    public static final int kFrontLeftTurningEncoderPort = 19;
-    public static final int kRearLeftTurningEncoderPort = 20;
-    public static final int kFrontRightTurningEncoderPort = 18;
-    public static final int kRearRightTurningEncoderPort = 17;
+    public static final int kFrontLeftTurningEncoderPort = 5;
+    public static final int kRearLeftTurningEncoderPort = 6;
+    public static final int kFrontRightTurningEncoderPort = 3;
+    public static final int kRearRightTurningEncoderPort = 4;
 
     // TODO: Test motor orientations before driving on an actual robot
     public static final boolean kFrontLeftDriveMotorReversed = false;
@@ -152,7 +152,7 @@ public static final class VirtualLimelightConstants {
 
     public static final Vector<N3> kVisionSTDDevs = VecBuilder.fill(0.7, 0.7, 999999);
 
-    public static final boolean kUseVision = true;
+    public static final boolean kUseVision = false;
   }
 
   public static final class SimulationConstants {

src/main/java/frc/robot/subsystems/SwerveModule.java

@@ -5,12 +5,12 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix6.hardware.CANcoder;
+import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkFlexConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-import com.revrobotics.spark.config.SparkMaxConfig;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -21,11 +21,11 @@
 import frc.robot.Robot;
 
 public class SwerveModule {
-  private final SparkMax m_driveMotor;
-  private final SparkMax m_turningMotor;
+  private final SparkFlex m_driveMotor;
+  private final SparkFlex m_turningMotor;
 
-  private final SparkMaxConfig m_driveMotorConfig = new SparkMaxConfig();
-  private final SparkMaxConfig m_turningMotorConfig = new SparkMaxConfig();
+  private final SparkFlexConfig m_driveMotorConfig = new SparkFlexConfig();
+  private final SparkFlexConfig m_turningMotorConfig = new SparkFlexConfig();
 
   private final CANcoder m_turningEncoder;
 
@@ -50,8 +50,8 @@ public SwerveModule(
       int turningMotorPort,
       int turningEncoderPort,
       boolean driveMotorReversed) {
-    m_driveMotor = new SparkMax(driveMotorPort, MotorType.kBrushless);
-    m_turningMotor = new SparkMax(turningMotorPort, MotorType.kBrushless);
+    m_driveMotor = new SparkFlex(driveMotorPort, MotorType.kBrushless);
+    m_turningMotor = new SparkFlex(turningMotorPort, MotorType.kBrushless);
     m_turningEncoder = new CANcoder(turningEncoderPort);
 
     // converts default units to meters per second
@@ -97,7 +97,7 @@ public void setDesiredState(SwerveModuleState desiredState) {
     m_state.optimize(getEncoderAngle(m_turningEncoder));
     driveOutput = m_state.speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond;
 
-    turnOutput = m_turningPIDController.calculate(getEncoderAngle(m_turningEncoder).getRadians(),
+    turnOutput = -m_turningPIDController.calculate(getEncoderAngle(m_turningEncoder).getRadians(),
         m_state.angle.getRadians());
 
     m_driveMotor.set(driveOutput);