From 3195184a51b9aa6e0728ba965d81cfefce31e0d3 Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Mon, 29 Jul 2024 15:13:10 -0500 Subject: [PATCH] Fixed output to use `conversionFactors` instead. Signed-off-by: thenetworkgrinch --- .../frc/robot/subsystems/swervedrive/SwerveSubsystem.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index f8bc912f..923149f4 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -70,9 +70,9 @@ public SwerveSubsystem(File directory) // The gear ratio is 6.75 motor revolutions per wheel rotation. // The encoder resolution per motor revolution is 1 per motor revolution. double driveConversionFactor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(4), 6.75); - System.out.println("\"conversionFactor\": {"); - System.out.println("\t\"angle\": " + angleConversionFactor + ","); - System.out.println("\t\"drive\": " + driveConversionFactor); + System.out.println("\"conversionFactors\": {"); + System.out.println("\t\"angle\": {\"factor\": " + angleConversionFactor + " },") ; + System.out.println("\t\"drive\": {\"factor\": " + driveConversionFactor + " }"); System.out.println("}"); // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.