all must be inverted bause rev

.gitignore

@@ -168,3 +168,6 @@ networktables.json
 
 # Add to tree but only when neccicary (adding a map or smthn)
 simgui-window.json
+
+# sysid ignores
+*.SysId

rio/components/drivetrain.py

@@ -107,7 +107,7 @@ def periodic(self) -> None:
         like updating the dashboard and maintaining odometry.
         """
 
-        # Update the odometry in the periodic block
+        # Update the odometry in the periodic bloc
         self.odometry.update(
             Rotation2d.fromDegrees(self.gyro.getAngle()),
             (
@@ -117,16 +117,20 @@ def periodic(self) -> None:
                 self.rearRight.getPosition(),
             ),
         )
-
+        # desired
         self.sd.putNumber("Swerve/FL", self.frontLeft.desiredState.angle.degrees())
         self.sd.putNumber("Swerve/FR", self.frontRight.desiredState.angle.degrees())
         self.sd.putNumber("Swerve/RL", self.rearLeft.desiredState.angle.degrees())
         self.sd.putNumber("Swerve/RR", self.rearRight.desiredState.angle.degrees())
 
-        logging.info(f"FR Swerve module setpoint {self.frontRight.desiredState.angle.degrees()}, actual is {self.frontRight.getPosition().angle.degrees()}")
+        # actual
+        self.sd.putNumber("Swerve/FL", self.frontLeft.getState().angle.degrees())
+        self.sd.putNumber("Swerve/FR", self.frontRight.getState().angle.degrees())
+        self.sd.putNumber("Swerve/RL", self.rearLeft.getState().angle.degrees())
+        self.sd.putNumber("Swerve/RR", self.rearRight.getState().angle.degrees())
 
-        # print(
-        #     f"FL: {self.frontLeft.turningEncoder.getPosition()} FR: {self.frontRight.turningEncoder.getPosition()} RL: {self.rearLeft.turningEncoder.getPosition()} RR: {self.rearRight.turningEncoder.getPosition()}"
+        # logging.info(
+        #     f"FR Swerve module setpoint {self.frontLeft.desiredState.angle.degrees()}, actual is {self.frontLeft.getPosition().angle.degrees(),} .getPosition is {self.frontLeft.getPosition()}"
         # )
 
     def getPose(self) -> Pose2d:

rio/components/mikeSwerveModule.py

@@ -62,7 +62,7 @@ def __init__(self, swerveConfig: dict, moduleConfig: str) -> None:
         )
 
         # Uncomment to invert the encoders
-        # self.turningEncoder.setInverted(true)
+        self.turningEncoder.setInverted(True)
 
         # Enable PID wrap around for the turning motor. This will allow the PID
         # controller to go through 0 to get to the setpoint i.e. going from 350 degrees

rio/constants/robotHardware.yaml

@@ -7,8 +7,8 @@ swerve:
       Pose: [-1, 1] # Configured Never by Nobody
 
     frontRight:
-      CANSteerID: 6 # Configured 1/19 by Keegan
-      CANDriveID: 5 # Configured 1/19 by Keegan
+      CANSteerID: 99 # 6 Configured 1/19 by Keegan
+      CANDriveID: 98 # 5 Configured 1/19 by Keegan
       Pose: [1, 1] # Configured Never by Nobody
 
     rearLeft:
@@ -29,7 +29,7 @@ swerve:
   kDrivingMinOutput: -1 # Configured Never by Nobody
   kDrivingMaxOutput: 1  # Configured Never by Nobody
 
-  kTurningP: 0.265      # Updated 1/19 by Keegan
+  kTurningP: 2.65      # Updated 1/19 by Keegan
   kTurningI: 0.012      # Configured Never by Nobody
   kTurningD: 1.5        # Configured Never by Nobody
   kTurningFF: 0         # Configured Never by Nobody

rio/simgui-window.json

@@ -26,12 +26,12 @@
     "###FMS": {
       "Collapsed": "0",
       "Pos": "5,540",
-      "Size": "32,35"
+      "Size": "283,146"
     },
     "###Joysticks": {
       "Collapsed": "0",
       "Pos": "250,465",
-      "Size": "32,35"
+      "Size": "796,138"
     },
     "###NetworkTables": {
       "Collapsed": "0",
@@ -51,12 +51,12 @@
     "###System Joysticks": {
       "Collapsed": "0",
       "Pos": "16,322",
-      "Size": "32,35"
+      "Size": "192,218"
     },
     "###Timing": {
       "Collapsed": "0",
       "Pos": "7,129",
-      "Size": "32,35"
+      "Size": "135,173"
     },
     "Debug##Default": {
       "Collapsed": "0",
@@ -66,7 +66,7 @@
     "Robot State": {
       "Collapsed": "0",
       "Pos": "5,20",
-      "Size": "32,35"
+      "Size": "92,99"
     }
   }
 }