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Corrected swerve module config #57

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Corrected swerve module config #57

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f8120c8
Corrected swerve module config
SCool62 Mar 7, 2026
ddc2d31
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SCool62 Mar 7, 2026
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20 changes: 14 additions & 6 deletions src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.robot.subsystems.swerve;

import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Meter;
import static edu.wpi.first.units.Units.Volts;

Expand Down Expand Up @@ -74,6 +75,7 @@
import org.ironmaple.simulation.drivesims.COTS;
import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;

Expand Down Expand Up @@ -132,13 +134,19 @@ public class SwerveSubsystem extends SubsystemBase {
DriveTrainSimulationConfig.Default()
.withGyro(COTS.ofPigeon2())
.withSwerveModule(
COTS.ofMark4n(
new SwerveModuleSimulationConfig(
DCMotor.getKrakenX60Foc(1),
DCMotor.getKrakenX60Foc(1),
// Still not sure where the 1.5 came from
1.5,
// Running l2+ swerve modules
2))
DCMotor.getKrakenX44Foc(1),
SWERVE_CONSTANTS.getDriveGearRatio(),
SWERVE_CONSTANTS.getTurnGearRatio(),
// These are from the maple sim cots module config for all modules (including
// mk5n)
Volts.of(0.1),
Volts.of(0.2),
Meter.of(SWERVE_CONSTANTS.getWheelRadiusMeters()),
// Also from cots config
KilogramSquareMeters.of(0.03),
2.25))
.withTrackLengthTrackWidth(
Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthX()),
Meter.of(SwerveSubsystem.SWERVE_CONSTANTS.getTrackWidthY()))
Expand Down