Added the swerve pod ramp rates

ThePinkAlliance · May 6, 2022 · ce350da · ce350da
1 parent bf609d0
commit ce350da
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Showing 3 changed files with 45 additions and 21 deletions.
diff --git a/core b/core
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -19,25 +19,31 @@
  */
 public final class Constants {
 
+  public static double GLOBAL_SWERVE_POD_RAMP_RATE = 0.13;
+
   public static SwerveModuleConfig frontLeftConfig = new SwerveModuleConfig(
     0,
     1,
-    3
+    3,
+    GLOBAL_SWERVE_POD_RAMP_RATE
   );
   public static SwerveModuleConfig frontRightConfig = new SwerveModuleConfig(
     4,
     5,
-    6
+    6,
+    GLOBAL_SWERVE_POD_RAMP_RATE
   );
   public static SwerveModuleConfig backLeftConfig = new SwerveModuleConfig(
     7,
     8,
-    9
+    9,
+    GLOBAL_SWERVE_POD_RAMP_RATE
   );
   public static SwerveModuleConfig backRightConfig = new SwerveModuleConfig(
     10,
     11,
-    12
+    12,
+    GLOBAL_SWERVE_POD_RAMP_RATE
   );
 
   public static Mk4SwerveModuleHelper.GearRatio gearRatio =

diff --git a/src/main/java/frc/robot/subsystems/Base.java b/src/main/java/frc/robot/subsystems/Base.java
@@ -85,10 +85,10 @@ public Base() {
           .withSize(2, 4)
           .withPosition(0, 0),
         Constants.gearRatio,
-        Constants.frontLeftConfig.motorPowerPort,
-        Constants.frontLeftConfig.motorSteerPort,
-        Constants.frontLeftConfig.canIDPort,
-        Constants.frontLeftConfig.steerOffset
+        Constants.frontLeftConfig.getMotorDrivePort(),
+        Constants.frontLeftConfig.getMotorSteerPort(),
+        Constants.frontLeftConfig.getCanCoderPort(),
+        Constants.frontLeftConfig.getSteerOffset()
       );
 
     this.frontRightModule =
@@ -98,10 +98,10 @@ public Base() {
           .withSize(2, 4)
           .withPosition(0, 2),
         Constants.gearRatio,
-        Constants.frontRightConfig.motorPowerPort,
-        Constants.frontRightConfig.motorSteerPort,
-        Constants.frontRightConfig.canIDPort,
-        Constants.frontRightConfig.steerOffset
+        Constants.frontRightConfig.getMotorDrivePort(),
+        Constants.frontRightConfig.getMotorSteerPort(),
+        Constants.frontRightConfig.getCanCoderPort(),
+        Constants.frontRightConfig.getSteerOffset()
       );
 
     this.backRightModule =
@@ -111,10 +111,10 @@ public Base() {
           .withSize(2, 4)
           .withPosition(0, 4),
         Constants.gearRatio,
-        Constants.backRightConfig.motorPowerPort,
-        Constants.backRightConfig.motorSteerPort,
-        Constants.backRightConfig.canIDPort,
-        Constants.backRightConfig.steerOffset
+        Constants.backRightConfig.getMotorDrivePort(),
+        Constants.backRightConfig.getMotorSteerPort(),
+        Constants.backRightConfig.getCanCoderPort(),
+        Constants.backRightConfig.getSteerOffset()
       );
 
     this.backLeftModule =
@@ -124,10 +124,28 @@ public Base() {
           .withSize(2, 4)
           .withPosition(0, 6),
         Constants.gearRatio,
-        Constants.backLeftConfig.motorPowerPort,
-        Constants.backLeftConfig.motorSteerPort,
-        Constants.backLeftConfig.canIDPort,
-        Constants.backLeftConfig.steerOffset
+        Constants.backLeftConfig.getMotorDrivePort(),
+        Constants.backLeftConfig.getMotorSteerPort(),
+        Constants.backLeftConfig.getCanCoderPort(),
+        Constants.backLeftConfig.getSteerOffset()
+      );
+
+    this.configurePods();
+  }
+
+  public void configurePods() {
+    this.frontLeftModule.configRampRate(
+        Constants.frontLeftConfig.getDriveRampRate()
+      );
+    this.frontRightModule.configRampRate(
+        Constants.frontRightConfig.getDriveRampRate()
+      );
+
+    this.backLeftModule.configRampRate(
+        Constants.backLeftConfig.getDriveRampRate()
+      );
+    this.backRightModule.configRampRate(
+        Constants.backRightConfig.getDriveRampRate()
       );
   }