some things

BitBucketsFRC4183 · Mar 3, 2025 · 8425c19 · 8425c19
1 parent 1dae337
commit 8425c19
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/constants/DriveConstants.java b/src/main/java/frc/robot/constants/DriveConstants.java
@@ -89,6 +89,8 @@ public class DriveConstants {
     // Drive Velocity firmware PID gains
     public static final double driveKp = 0.0;
     public static final double driveKd = 0.0;
+
+    public static final double driveKa = 0;
     public static final double driveKs = 0.0;
     public static final double driveKv = 0.1;
     public static final double driveSimP = 0.05;

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem/ModuleIOHybrid.java b/src/main/java/frc/robot/subsystems/DriveSubsystem/ModuleIOHybrid.java
@@ -10,6 +10,7 @@
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.AudioConfigs;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.*;
 import com.ctre.phoenix6.hardware.ParentDevice;
@@ -52,7 +53,7 @@
 import java.util.function.DoubleSupplier;
 
 /**
- * Module IO implementation for Spark Flex drive motor controller, Spark Max turn motor controller,
+ * Module IO implementation for TalonFX drive motor controller, Spark Max turn motor controller,
  * and duty cycle absolute encoder.
  */
 public class ModuleIOHybrid implements ModuleIO {
@@ -125,7 +126,7 @@ public ModuleIOHybrid(int module, SwerveModuleConstants<TalonFXConfiguration, Ta
         // Configure drive motor
         var driveConfig = new TalonFXConfiguration().withAudio(new AudioConfigs().withBeepOnBoot(true));
         driveConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
-        driveConfig.Slot0 = constants.DriveMotorGains;
+        driveConfig.Slot0 = new Slot0Configs().withKP(driveKp).withKD(driveKd).withKV(driveKv).withKA(driveKa).withKS(driveKs);
         driveConfig.Feedback.SensorToMechanismRatio = driveMotorReduction;
         driveConfig.TorqueCurrent.PeakForwardTorqueCurrent = driveMotorCurrentLimit;
         driveConfig.TorqueCurrent.PeakReverseTorqueCurrent = -driveMotorCurrentLimit;