Updated TunerConstants file

	modified:   src/main/java/frc/robot/generated/TunerConstants.java

src/main/java/frc/robot/generated/TunerConstants.java

@@ -12,7 +12,7 @@
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstantsFactory;
 import edu.wpi.first.math.util.Units;
 
-// import frc.robot.subsystems.swervedrive_ignore.SwerveSubsystem;
+// import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 // Generated by the Tuner X Swerve Project Generator
 // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
@@ -30,12 +30,10 @@ public class TunerConstants {
 
   // The closed-loop output type to use for the steer motors;
   // This affects the PID/FF gains for the steer motors
-  public static final ClosedLoopOutputType steerClosedLoopOutput =
-      ClosedLoopOutputType.TorqueCurrentFOC;
+  public static final ClosedLoopOutputType steerClosedLoopOutput = ClosedLoopOutputType.Voltage;
   // The closed-loop output type to use for the drive motors;
   // This affects the PID/FF gains for the drive motors
-  public static final ClosedLoopOutputType driveClosedLoopOutput =
-      ClosedLoopOutputType.TorqueCurrentFOC;
+  public static final ClosedLoopOutputType driveClosedLoopOutput = ClosedLoopOutputType.Voltage;
 
   // The stator current at which the wheels start to slip;
   // This needs to be tuned to your individual robot
@@ -59,13 +57,13 @@ public class TunerConstants {
 
   // Theoretical free speed (m/s) at 12v applied output;
   // This needs to be tuned to your individual robot
-  public static final double kSpeedAt12VoltsMps = 5.21;
+  public static final double kSpeedAt12VoltsMps = 4.73;
 
   // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
   // This may need to be tuned to your individual robot
   public static final double kCoupleRatio = 3.5714285714285716;
 
-  public static final double kDriveGearRatio = 6.122448979591837;
+  public static final double kDriveGearRatio = 6.746031746031747;
   public static final double kSteerGearRatio = 21.428571428571427;
   public static final double kWheelRadiusInches = 2;
 
@@ -113,7 +111,7 @@ public class TunerConstants {
   public static final int kFrontLeftDriveMotorId = 1;
   public static final int kFrontLeftSteerMotorId = 2;
   public static final int kFrontLeftEncoderId = 3;
-  public static final double kFrontLeftEncoderOffset = -0.303466796875;
+  public static final double kFrontLeftEncoderOffset = -0.4736328125;
   public static final boolean kFrontLeftSteerInvert = true;
 
   public static final double kFrontLeftXPosInches = 10.375;
@@ -123,7 +121,7 @@ public class TunerConstants {
   public static final int kFrontRightDriveMotorId = 4;
   public static final int kFrontRightSteerMotorId = 5;
   public static final int kFrontRightEncoderId = 6;
-  public static final double kFrontRightEncoderOffset = -0.122802734375;
+  public static final double kFrontRightEncoderOffset = -0.1123046875;
   public static final boolean kFrontRightSteerInvert = true;
 
   public static final double kFrontRightXPosInches = 10.375;
@@ -133,7 +131,7 @@ public class TunerConstants {
   public static final int kBackLeftDriveMotorId = 7;
   public static final int kBackLeftSteerMotorId = 8;
   public static final int kBackLeftEncoderId = 9;
-  public static final double kBackLeftEncoderOffset = 0.4814453125;
+  public static final double kBackLeftEncoderOffset = 0.4091796875;
   public static final boolean kBackLeftSteerInvert = true;
 
   public static final double kBackLeftXPosInches = -10.375;
@@ -143,7 +141,7 @@ public class TunerConstants {
   public static final int kBackRightDriveMotorId = 10;
   public static final int kBackRightSteerMotorId = 11;
   public static final int kBackRightEncoderId = 12;
-  public static final double kBackRightEncoderOffset = 0.300537109375;
+  public static final double kBackRightEncoderOffset = 0.08544921875;
   public static final boolean kBackRightSteerInvert = true;
 
   public static final double kBackRightXPosInches = -10.375;
@@ -190,6 +188,7 @@ public class TunerConstants {
               kInvertRightSide)
           .withSteerMotorInverted(kBackRightSteerInvert);
 
-  //   public static final SwerveSubsystem DriveTrain =
-  //       new SwerveSubsystem(DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight);
+  //     public static final CommandSwerveDrivetrain DriveTrain = new
+  // CommandSwerveDrivetrain(DrivetrainConstants, FrontLeft,
+  //             FrontRight, BackLeft, BackRight);
 }