Idk abt this

FRC-7525 · Nov 15, 2024 · 76140c1 · 76140c1
1 parent b59243b
commit 76140c1
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Showing 3 changed files with 13 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,8 +4,11 @@
 
 package frc.robot;
 
+import org.littletonrobotics.conduit.ConduitApi;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggedDriverStation;
+import org.littletonrobotics.junction.inputs.LoggedSystemStats;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -70,5 +73,12 @@ public void simulationInit() {
 
 	@Override
 	public void simulationPeriodic() {
+		refreshAkitData();
+	}
+
+	private void refreshAkitData() {
+		ConduitApi.getInstance().captureData();
+		LoggedDriverStation.periodic();
+		LoggedSystemStats.periodic();
 	}
 }
diff --git a/...rc/robot/pioneersLib/bumSwerve/SwerveAbsoluteEncoder/SwerveAbsoluteEncoderIOCANcoder.java b/...rc/robot/pioneersLib/bumSwerve/SwerveAbsoluteEncoder/SwerveAbsoluteEncoderIOCANcoder.java
@@ -43,6 +43,7 @@ public SwerveAbsoluteEncoderIOCANcoder(int ID, double encoderOffset) {
         //     .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive)
         // );
         // configurator.apply(magnetSensorConfiguration.withMagnetOffset(encoderOffset/360));
+        // CaNcoder.getConfigurator().withSensorDirection(getS)
 
     }
 
@@ -52,7 +53,7 @@ public void updateInputs(SwerveAbsoluteEncoderIOInputs inputs) {
 
         inputs.absoluteEncoderOffset = absoluteEncoderOffset;
         inputs.inverted = inverted;
-        inputs.turnAbsolutePosition = MathUtil.angleModulus(Units.degreesToRadians(CaNcoder.getAbsolutePosition().getValueAsDouble() * 360 + absoluteEncoderOffset));
+        inputs.turnAbsolutePosition = MathUtil.angleModulus(Units.degreesToRadians((CaNcoder.getAbsolutePosition().getValueAsDouble() * 360) + absoluteEncoderOffset));
     }
 
     @Override

diff --git a/src/main/java/frc/robot/pioneersLib/bumSwerve/SwerveMotor/SwerveMotorIOTalonFX.java b/src/main/java/frc/robot/pioneersLib/bumSwerve/SwerveMotor/SwerveMotorIOTalonFX.java
@@ -100,6 +100,7 @@ public SwerveMotorIOTalonFX(int canID, String canbus, double gearRatio) {
         feedbackController = new PIDController(0, 0, 0);
 
         FeedbackConfigs feedback = new FeedbackConfigs();
+        feedback.SensorToMechanismRatio = 1;
         configurator.apply(feedback);
 
         timestampQueue = OdometryThread.getInstance().makeTimestampQueue();