Update swerve PathPlanner example to use latest swerve generator

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

@@ -11,30 +11,49 @@
 
 public class TunerConstants {
     static class CustomSlotGains extends Slot0Configs {
-        public CustomSlotGains(double kP, double kI, double kD, double kV, double kS) {
+        public CustomSlotGains(double kP, double kI, double kD, double kS, double kV, double kA) {
             this.kP = kP;
             this.kI = kI;
             this.kD = kD;
-            this.kV = kV;
             this.kS = kS;
+            this.kV = kV;
+            this.kA = kA;
         }
     }
 
-    private static final CustomSlotGains steerGains = new CustomSlotGains(100, 0, 0.05, 0, 0);
-    private static final CustomSlotGains driveGains = new CustomSlotGains(3, 0, 0, 0, 0);
+    // Both sets of gains need to be tuned to your individual robot
+    // The steer motor uses MotionMagicVoltage control
+    private static final CustomSlotGains steerGains = new CustomSlotGains(100, 0, 0.05, 0, 0, 0);
+    // When using closed-loop control, the drive motor uses:
+    // - VelocityVoltage, if DrivetrainConstants.SupportsPro is false (default)
+    // - VelocityTorqueCurrentFOC, if DrivetrainConstants.SupportsPro is true
+    private static final CustomSlotGains driveGains = new CustomSlotGains(3, 0, 0, 0, 0, 0);
+
+    // The stator current at which the wheels start to slip;
+    // This needs to be tuned to your individual robot
+    private static final double kSlipCurrentA = 300.0;
+
+    // Theoretical free speed (m/s) at 12v applied output;
+    // This needs to be tuned to your individual robot
+    private static final double kSpeedAt12VoltsMps = 6.0;
 
+    // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
+    // This may need to be tuned to your individual robot
     private static final double kCoupleRatio = 3.5;
 
     private static final double kDriveGearRatio = 7.363636364;
     private static final double kSteerGearRatio = 15.42857143;
     private static final double kWheelRadiusInches = 2.167; // Estimated at first, then fudge-factored to make odom match record
-    private static final int kPigeonId = 1;
+
     private static final boolean kSteerMotorReversed = true;
-    private static final String kCANbusName = "rio";
     private static final boolean kInvertLeftSide = false;
     private static final boolean kInvertRightSide = true;
 
+    private static final String kCANbusName = "rio";
+    private static final int kPigeonId = 1;
 
+
+    // These are only used for simulation
     private static double kSteerInertia = 0.00001;
     private static double kDriveInertia = 0.001;
 
@@ -47,37 +66,45 @@ public CustomSlotGains(double kP, double kI, double kD, double kV, double kS) {
             .withDriveMotorGearRatio(kDriveGearRatio)
             .withSteerMotorGearRatio(kSteerGearRatio)
             .withWheelRadius(kWheelRadiusInches)
-            .withSlipCurrent(30)
+            .withSlipCurrent(kSlipCurrentA)
             .withSteerMotorGains(steerGains)
             .withDriveMotorGains(driveGains)
-            .withSpeedAt12VoltsMps(6) // Theoretical free speed is 10 meters per second at 12v applied output
+            .withSpeedAt12VoltsMps(kSpeedAt12VoltsMps)
             .withSteerInertia(kSteerInertia)
             .withDriveInertia(kDriveInertia)
             .withFeedbackSource(SwerveModuleSteerFeedbackType.FusedCANcoder)
-            .withCouplingGearRatio(kCoupleRatio) // Every 1 rotation of the azimuth results in couple ratio drive turns
+            .withCouplingGearRatio(kCoupleRatio)
             .withSteerMotorInverted(kSteerMotorReversed);
 
+
+    // Front Left
     private static final int kFrontLeftDriveMotorId = 5;
     private static final int kFrontLeftSteerMotorId = 4;
     private static final int kFrontLeftEncoderId = 2;
     private static final double kFrontLeftEncoderOffset = -0.83544921875;
 
     private static final double kFrontLeftXPosInches = 10.5;
     private static final double kFrontLeftYPosInches = 10.5;
+
+    // Front Right
     private static final int kFrontRightDriveMotorId = 7;
     private static final int kFrontRightSteerMotorId = 6;
     private static final int kFrontRightEncoderId = 3;
     private static final double kFrontRightEncoderOffset = -0.15234375;
 
     private static final double kFrontRightXPosInches = 10.5;
     private static final double kFrontRightYPosInches = -10.5;
+
+    // Back Left
     private static final int kBackLeftDriveMotorId = 1;
     private static final int kBackLeftSteerMotorId = 0;
     private static final int kBackLeftEncoderId = 0;
     private static final double kBackLeftEncoderOffset = -0.4794921875;
 
     private static final double kBackLeftXPosInches = -10.5;
     private static final double kBackLeftYPosInches = 10.5;
+
+    // Back Right
     private static final int kBackRightDriveMotorId = 3;
     private static final int kBackRightSteerMotorId = 2;
     private static final int kBackRightEncoderId = 1;