From 04cb45c714068eec94b1ca74fa5e8a3a157186a9 Mon Sep 17 00:00:00 2001
From: Dan Josh <95506168+ddjoshua01@users.noreply.github.com>
Date: Sat, 27 Jan 2024 10:11:24 -0700
Subject: [PATCH] Swerve Fixes

Swerve Things
---
 src/main/java/frc/robot/RobotContainer.java                | 6 +++---
 src/main/java/frc/robot/constants/DrivetrainConstants.java | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2985c80..b06c873 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -36,9 +36,9 @@ public void configureButtonBindings(){
 
     swerveSubsystem.setDefaultCommand(new DriveCommands(
             swerveSubsystem,
-            () -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar / 4.0,
-            () -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar / 4.0,
-            () -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar / 4.0,
+            () -> primaryController.getLeftY() * DrivetrainConstants.drivingSpeedScalar / 1.0,
+            () -> primaryController.getLeftX() * DrivetrainConstants.drivingSpeedScalar / 1.0,
+            () -> primaryController.getRightX() * DrivetrainConstants.rotationSpeedScalar / 1.0,
             true,
             true
     ));
diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index a738b1f..50bc322 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -17,7 +17,7 @@ public class DrivetrainConstants {
     public static final double drivingSpeedScalar = -1.0;
     public static final double rotationSpeedScalar = 2.0;
 
-    public static final double trackWidth = Units.inchesToMeters(22);
+    public static final double trackWidth = Units.inchesToMeters(18);
     public static final double wheelBase = Units.inchesToMeters(22.5);
 
     public static final SwerveDriveKinematics driveKinematics = new SwerveDriveKinematics(
@@ -29,8 +29,8 @@ public class DrivetrainConstants {
 
     public static final double frontLeftChassisAngularOffset = -0.57 + Math.PI;
     public static final double frontRightChassisAngularOffset = 0.874 + Math.PI;
-    public static final double rearLeftChassisAngularOffset = 6.089;
-    public static final double rearRightChassisAngularOffset = 2.428 + Math.PI/2;
+    public static final double rearLeftChassisAngularOffset = 6.098;
+    public static final double rearRightChassisAngularOffset = 5.52 - Math.PI/2;
 
     public static final int frontLeftDrivingPort = 1;
     public static final int rearLeftDrivingPort = 5;