Updated swervelib

deploy/swerve/modules/backleft.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 7,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 8,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 12,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": 6.504,
+  "location": {
+    "x": -12,
+    "y": 12
+  }
+}

deploy/swerve/modules/backright.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 5,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 6,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 11,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -18.281,
+  "location": {
+    "x": -12,
+    "y": -12
+  }
+}

deploy/swerve/modules/frontleft.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 4,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 3,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 9,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -114.609,
+  "location": {
+    "x": 12,
+    "y": 12
+  }
+}

deploy/swerve/modules/frontright.json

@@ -0,0 +1,26 @@
+{
+  "drive": {
+    "type": "sparkmax",
+    "id": 2,
+    "canbus": null
+  },
+  "angle": {
+    "type": "sparkmax",
+    "id": 1,
+    "canbus": null
+  },
+  "encoder": {
+    "type": "cancoder",
+    "id": 10,
+    "canbus": null
+  },
+  "inverted": {
+    "drive": false,
+    "angle": false
+  },
+  "absoluteEncoderOffset": -50.977,
+  "location": {
+    "x": 12,
+    "y": -12
+  }
+}

deploy/swerve/modules/physicalproperties.json

@@ -0,0 +1,17 @@
+{
+  "wheelDiameter": 4,
+  "gearRatio": {
+    "drive": 6.75,
+    "angle": 12.8
+  },
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.25
+  },
+  "wheelGripCoefficientOfFriction": 1.19,
+  "angleMotorFreeSpeedRPM": 5676
+}

deploy/swerve/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.01,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  }
+}