From 9efefbe5f1779565678bf0ce2625351ef6fb9cc9 Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 7 Apr 2026 12:27:30 -0700 Subject: [PATCH] disable for drivetrain --- .SysId/sysid.json | 1 + src/main/java/frc/robot/RobotContainer.java | 2 -- .../frc/robot/controls/PS5ControllerDriverConfig.java | 4 ++-- .../java/frc/robot/subsystems/drivetrain/Module.java | 11 +++++------ sysid.json | 1 + 5 files changed, 9 insertions(+), 10 deletions(-) create mode 100644 .SysId/sysid.json create mode 100644 sysid.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/.SysId/sysid.json @@ -0,0 +1 @@ +{} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 524e3f6..6e53141 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -116,8 +116,6 @@ public class RobotContainer { break; case TestBed2: - // led = new LED(); - // led.setDefaultCommand(new LEDDefaultCommand(led)); break; default: diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 3736e67..9b3f5db 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -70,8 +70,8 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { CommandScheduler.getInstance().cancelAll(); })); - // sysId per-module characterization - controller.get(PS5Button.TRIANGLE).onTrue(new SysIdPerModuleCommand(getDrivetrain())); + // // sysId per-module characterization + // controller.get(PS5Button.TRIANGLE).onTrue(new SysIdPerModuleCommand(getDrivetrain())); // Reverse motors if (intake != null && spindexer != null) { diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java index 38bc9e7..aa81e8e 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java @@ -250,7 +250,7 @@ public class Module implements ModuleIO{ } if (isOpenLoop) { double percentOutput = desiredState.speedMetersPerSecond / DriveConstants.MAX_SPEED; - driveMotor.setControl(new DutyCycleOut(percentOutput).withEnableFOC(true)); + driveMotor.setControl(new DutyCycleOut(percentOutput)); } else { double velocity = desiredState.speedMetersPerSecond/DriveConstants.WHEEL_RADIUS/2/Math.PI*DriveConstants.DRIVE_GEAR_RATIO; if (!Constants.DISABLE_LOGGING) { @@ -261,8 +261,7 @@ public class Module implements ModuleIO{ driveMotor.setControl( velocityRequest .withVelocity(velocity) - .withFeedForward(feedforward) - .withEnableFOC(true)); + .withFeedForward(feedforward)); } } @@ -277,14 +276,14 @@ public class Module implements ModuleIO{ if(desiredState == null){ return; } - angleMotor.setControl(new PositionDutyCycle(desiredState.angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio).withEnableFOC(true)); + angleMotor.setControl(new PositionDutyCycle(desiredState.angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio)); } public void setDriveVoltage(Voltage voltage){ - driveMotor.setControl(new VoltageOut(voltage.baseUnitMagnitude()).withEnableFOC(true)); + driveMotor.setControl(new VoltageOut(voltage.baseUnitMagnitude())); } public void setAngle(Rotation2d angle){ - angleMotor.setControl(new PositionDutyCycle(angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio).withEnableFOC(true)); + angleMotor.setControl(new PositionDutyCycle(angle.getRotations()*DriveConstants.MODULE_CONSTANTS.angleGearRatio)); } public void setOptimize(boolean enable) { diff --git a/sysid.json b/sysid.json new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/sysid.json @@ -0,0 +1 @@ +{} -- 2.39.5