more elevator and updated drive constants

(cherry picked from commit 2b1f571)
firebears-frc · Feb 4, 2025 · 5c41766 · 5c41766
1 parent cfef6f7
commit 5c41766
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -17,7 +17,6 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java
@@ -35,21 +35,23 @@ public class DriveConstants {
       };
 
   // Zeroed rotation values for each module, see setup instructions
-  public static final Rotation2d frontLeftZeroRotation = new Rotation2d(0.0);
-  public static final Rotation2d frontRightZeroRotation = new Rotation2d(0.0);
-  public static final Rotation2d backLeftZeroRotation = new Rotation2d(0.0);
-  public static final Rotation2d backRightZeroRotation = new Rotation2d(0.0);
+  public static final Rotation2d frontLeftZeroRotation = Rotation2d.fromDegrees(-90.0);
+  public static final Rotation2d frontRightZeroRotation = Rotation2d.fromDegrees(0.0);
+  public static final Rotation2d backLeftZeroRotation = Rotation2d.fromDegrees(180.0);
+  public static final Rotation2d backRightZeroRotation = Rotation2d.fromDegrees(90.0);
 
   // Device CAN IDs
   public static final int gyroCanId = 9;
 
   public static final int frontLeftDriveCanId = 1;
   public static final int backLeftDriveCanId = 5;
+
   public static final int frontRightDriveCanId = 3;
   public static final int backRightDriveCanId = 7;
 
   public static final int frontLeftTurnCanId = 2;
   public static final int backLeftTurnCanId = 6;
+
   public static final int frontRightTurnCanId = 4;
   public static final int backRightTurnCanId = 8;