Update drive wheel radius

team401 · Mar 10, 2024 · c38c02e · c38c02e
1 parent 4b0d6b1
commit c38c02e
Showing 1 changed file with 8 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -47,11 +47,11 @@ public static enum Mode {
     }
 
     public static final class FeatureFlags {
-        public static final boolean runVision = true;
+        public static final boolean runVision = false;
 
-        public static final boolean runIntake = true;
-        public static final boolean runScoring = true;
-        public static final boolean runEndgame = true;
+        public static final boolean runIntake = false;
+        public static final boolean runScoring = false;
+        public static final boolean runEndgame = false;
         public static final boolean runDrive = true;
 
         public static final boolean enableLEDS = false;
@@ -310,7 +310,7 @@ public static final class TunerConstants {
 
         private static final double kDriveGearRatio = 6.122448979591837;
         private static final double kSteerGearRatio = 21.428571428571427;
-        private static final double kWheelRadiusInches = 2;
+        private static final double kWheelRadiusInches = 1.925;
 
         private static final boolean kSteerMotorReversed = true;
         private static final boolean kInvertLeftSide = false;
@@ -386,6 +386,9 @@ public static final class TunerConstants {
         private static final double kFrontLeftXPosInches = -10.375;
         private static final double kFrontLeftYPosInches = -10.375;
 
+        public static final double kModuleRadiusMeters =
+                Units.inchesToMeters(Math.hypot(kFrontLeftXPosInches, kFrontLeftYPosInches));
+
         private static final SwerveModuleConstants FrontLeft =
                 ConstantCreator.createModuleConstants(
                         kFrontLeftSteerMotorId,