1

2026-03-11 00:18:47 +08:00
parent 8b70832978
commit 95fabf94ff
5 changed files with 53 additions and 5 deletions
@@ -66,7 +66,17 @@ public class TunerConstants {
        );
    private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
    // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
-    private static final Pigeon2Configuration pigeonConfigs = null;
+    private static final Pigeon2Configuration pigeonConfigs =
+    new Pigeon2Configuration()
+        .withGyroTrim(
+            new GyroTrimConfigs()
+                .withGyroScalarZ(-5.0)
+        )
+        .withPigeon2Features(
+            new Pigeon2FeaturesConfigs()
+                .withEnableCompass(false)
+        );
+

    // CAN bus that the devices are located on;
    // All swerve devices must share the same CAN bus