update gear ratio

Team3256 · Nov 7, 2024 · 5f41818 · 5f41818
1 parent 4d0849a
commit 5f41818
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Showing 6 changed files with 16 additions and 18 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -109,8 +109,7 @@ public class RobotContainer {
           new BeamBreakIOAdafruit(SpindexConstants.kSpindexBeamBreakDIO));
   private final Vision vision = new Vision(new VisionIOLimelight());
 
-  // private final Superstructure superstructure = // TODO: when uncommented also
-  // uncomment the
+  // private final Superstructure superstructure = // TODO: when uncommented also uncomment the
   // periodic
   // new Superstructure(
   // ampevator,

diff --git a/src/main/java/frc/robot/subsystems/spindex/SpindexConstants.java b/src/main/java/frc/robot/subsystems/spindex/SpindexConstants.java
@@ -15,7 +15,7 @@ public class SpindexConstants {
   public static final int spindexMotorID = 50;
   public static final double spindexMotorVoltage = -7;
   public static TalonFXConfiguration spindexMotorConfigs =
-      new TalonFXConfiguration() // TODO: tune
+      new TalonFXConfiguration()
           .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
           .withMotorOutput(
               new MotorOutputConfigs()
@@ -36,7 +36,7 @@ public class SpindexConstants {
   public static boolean useMotionMagic = false;
   public static int kSpindexBeamBreakDIO = 1;
   public static TalonFXConfiguration feederMotorConfigs =
-      new TalonFXConfiguration() // TODO: tune
+      new TalonFXConfiguration()
           .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
           .withMotorOutput(
               new MotorOutputConfigs()

diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java
@@ -14,14 +14,14 @@
 
 public final class SwerveConstants {
   public static final PhoenixPIDController azimuthController =
-      new PhoenixPIDController(6, 0, 0); // you shouldn't have a I or D value TODO: tune
+      new PhoenixPIDController(6, 0, 0); // you shouldn't have a I or D value
   public static final PIDConstants autoRotationalController =
       new PIDConstants(6, azimuthController.getI(), azimuthController.getD()); // should be the same
   public static final PIDConstants autoTranslationalController =
-      new PIDConstants(8, 0, 0); // you shouldn't have a I or D value TODO: tune
+      new PIDConstants(8, 0, 0); // you shouldn't have a I or D value
 
   public static final List<Double> azimuthAngles = List.of(0.0, 90.0, 180.0, 270.0);
-  public static final double azimuthEpsilon = 10.0; // TODO: tune
+  public static final double azimuthEpsilon = 10.0;
 
   public static final PIDController choreoTranslationController = new PIDController(8, 0, 0);
   public static final PIDController choreoRotationController =

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -93,14 +93,14 @@ public Command setPositionFieldRelative(Rotation2d position, CommandSwerveDrivet
    */
   public Command setPosition(Rotation2d position) {
     return this.runOnce(
-        () -> turretIO.setPosition(position.getRotations() * TurretConstants.gearRatio));
+        () -> turretIO.setPosition(position.getRotations() / TurretConstants.gearRatio));
   }
 
   /**
    * @return Command to zero the turret motor's encoder position
    */
   public Command zero() {
-    return this.runOnce(() -> turretIO.zero());
+    return this.runOnce(turretIO::zero);
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -14,16 +14,15 @@
 
 public final class TurretConstants {
 
-  public static int kCanCoderID1 = 41; // TODO: set id
-  public static int kCanCoderID2 = 42; // TODO: set id
+  public static int kCanCoderID1 = 41;
+  public static int kCanCoderID2 = 42;
 
-  public static final double gearRatio = 1; // TODO: Set gear ratio
+  public static final double gearRatio = 10.0 / 133; // TODO: Set gear ratio
   public static final CANcoderConfiguration canCoderConfig =
-      new CANcoderConfiguration()
-          .withMagnetSensor(new MagnetSensorConfigs().withMagnetOffset(0)); // TODO: set config
+      new CANcoderConfiguration().withMagnetSensor(new MagnetSensorConfigs().withMagnetOffset(0));
   public static final double updateFrequency = 50.0;
 
-  public static final int kTurretMotorID = 52; // TODO: Set ID
+  public static final int kTurretMotorID = 52;
 
   public static final double followTagP = 1;
   public static final double followTagI = 0;
@@ -40,7 +39,7 @@ public final class TurretConstants {
               new Slot0Configs()
                   .withKS(0)
                   .withKV(0.05)
-                  .withKP(25)
+                  .withKP(1)
                   .withKI(0)
                   .withKD(0) // Original 0.145
               )

diff --git a/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/src/main/java/frc/robot/subsystems/vision/VisionConstants.java
@@ -16,8 +16,8 @@ public final class VisionConstants {
   public static final String turretLimelight = "limelight-speaker";
 
   public static final double noteLimelightAngleDegrees = -29; // old -20.827
-  public static final double noteLimelightHeightInches = 21; // TODO: idk tune
-  public static final double noteHeightInches = 2; // TODO: idk tune
+  public static final double noteLimelightHeightInches = 21;
+  public static final double noteHeightInches = 2;
 
   public static final Transform2d robotToCam =
       new Transform2d(