still not works

Frc5572 · Jan 26, 2024 · 282eb24 · 282eb24
1 parent 20e362c
commit 282eb24
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/main/java/frc/lib/util/swerve/SwerveModule.java b/src/main/java/frc/lib/util/swerve/SwerveModule.java
@@ -55,7 +55,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
         /* Angle Encoder Config */
         swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.CAN_CODER_INVERT;
 
-        angleEncoder = new CANcoder(cancoderID);
+        angleEncoder = new CANcoder(cancoderID, "canivore");
         angleEncoder.getConfigurator().apply(swerveCANcoderConfig);
 
         /* Angle Motor Config */
@@ -81,7 +81,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
         swerveAngleFXConfig.Slot0.kP = Constants.Swerve.ANGLE_KP;
         swerveAngleFXConfig.Slot0.kI = Constants.Swerve.ANGLE_KI;
         swerveAngleFXConfig.Slot0.kD = Constants.Swerve.ANGLE_KD;
-        mAngleMotor = new TalonFX(angleMotorID);
+        mAngleMotor = new TalonFX(angleMotorID, "canivore");
         mAngleMotor.getConfigurator().apply(swerveAngleFXConfig);
         resetToAbsolute();
 
@@ -118,7 +118,7 @@ public SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int ca
             Constants.Swerve.CLOSED_LOOP_RAMP;
         swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod =
             Constants.Swerve.CLOSED_LOOP_RAMP;
-        mDriveMotor = new TalonFX(driveMotorID);
+        mDriveMotor = new TalonFX(driveMotorID, "canivore");
         mDriveMotor.getConfigurator().apply(swerveDriveFXConfig);
         mDriveMotor.getConfigurator().setPosition(0.0);
     }

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -136,7 +136,8 @@ public static final class Swerve {
         /* Motor Inverts */
         public static final InvertedValue DRIVE_MOTOR_INVERT =
             InvertedValue.CounterClockwise_Positive;
-        public static final InvertedValue ANGLE_MOTOT_INVERT = InvertedValue.Clockwise_Positive;
+        public static final InvertedValue ANGLE_MOTOT_INVERT =
+            InvertedValue.CounterClockwise_Positive;
 
         /* Angle Encoder Invert */
         public static final SensorDirectionValue CAN_CODER_INVERT =