Merge remote-tracking branch 'origin/main'

FRC3476 · Feb 19, 2024 · a809a3c · a809a3c
2 parents 13ac990 + f110271
commit a809a3c
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Showing 4 changed files with 16 additions and 5 deletions.
diff --git a/src/main/java/org/codeorange/frc2024/robot/Constants.java b/src/main/java/org/codeorange/frc2024/robot/Constants.java
@@ -116,7 +116,6 @@ public enum ElevatorPosition {
         }
     }
 
-    public static final double ELEVATOR_INCHES_PER_ROTATION = 0.25*22*12/60; //12:60 gears attached to 22 tooth sprocket on #25 chain with 0.25 inch pitch
     public static final double ELEVATOR_LOWER_LIMIT_INCHES = 0;
     public static final double ELEVATOR_UPPER_LIMIT_INCHES = 20;
     public static final double CLIMBER_LOWER_LIMIT_ROTATIONS = 0;
@@ -198,8 +197,12 @@ public enum ElevatorPosition {
     public static final double ARM_P = isPrototype() ? 100 : 0;
     public static final double ARM_I = isPrototype() ? 0 : 0;
     public static final double ARM_D = isPrototype() ? 5 : 0;
+    public static final double ARM_RTS = isPrototype() ? 144.0 : 60.0 * 3;
+    public static final double ARM_STM = isPrototype() ? 1.0 : 3.0;
 
     public static final double ELEVATOR_P = isPrototype() ? 1 : 0;
+    public static final double ELEVATOR_INCHES_PER_ROTATION = isPrototype() ? 0.25*22*12/60 : 30*2 * 8.0 / 72.0 / 25.4; //12:60 gears attached to 22 tooth sprocket on #25 chain with 0.25 inch pitch
+
 
     public static final double CLIMBER_P = isPrototype() ? 0 : 0;
     public static final double CLIMBER_I = isPrototype() ? 0 : 0;
@@ -208,9 +211,14 @@ public enum ElevatorPosition {
     public static final double SHOOTER_P = isPrototype() ? 2 : 0;
     public static final double SHOOTER_I = isPrototype() ? 0 : 0;
     public static final double SHOOTER_D = isPrototype() ? 0 : 0;
+    public static final double SHOOTER_STM = isPrototype() ? 1 : 0.5;
+
     public static final double WRIST_P = isPrototype() ? 10 : 0;
     public static final double WRIST_I = isPrototype() ? 0 : 0;
     public static final double WRIST_D = isPrototype() ? 0 : 0;
+    public static final double WRIST_RTS = isPrototype() ? 81.0 : 25.0;
+    public static final double WRIST_STM = isPrototype() ? 1.0 : 5.0;
+
 
 
     public static final int STEER_MOTOR_CURRENT_LIMIT = 20;

diff --git a/src/main/java/org/codeorange/frc2024/subsystem/arm/ArmIOTalonFX.java b/src/main/java/org/codeorange/frc2024/subsystem/arm/ArmIOTalonFX.java
@@ -50,8 +50,8 @@ public ArmIOTalonFX() {
         var armFeedBackConfigs = talonFXConfigs.Feedback;
         armFeedBackConfigs.FeedbackRemoteSensorID = absoluteEncoder.getDeviceID();
         armFeedBackConfigs.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
-        armFeedBackConfigs.SensorToMechanismRatio = 1.0;
-        armFeedBackConfigs.RotorToSensorRatio = 144.0;
+        armFeedBackConfigs.SensorToMechanismRatio = ARM_STM;
+        armFeedBackConfigs.RotorToSensorRatio = ARM_RTS;
 
         var armMotionMagicConfig = talonFXConfigs.MotionMagic;
         armMotionMagicConfig.MotionMagicCruiseVelocity = 0.2;

diff --git a/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIOTalonFX.java b/src/main/java/org/codeorange/frc2024/subsystem/shooter/ShooterIOTalonFX.java
@@ -8,6 +8,7 @@
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -45,6 +46,8 @@ public ShooterIOTalonFX() {
         config.Slot0.kD = SHOOTER_D;
         config.Slot0.kS = 0;
         config.Slot0.kV = 0;
+        config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RotorSensor;
+        config.Feedback.SensorToMechanismRatio = SHOOTER_STM;
         leader.getConfigurator().apply(config);
         follower.getConfigurator().apply(config);
 

diff --git a/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java b/src/main/java/org/codeorange/frc2024/subsystem/wrist/WristIOTalonFX.java
@@ -42,8 +42,8 @@ public WristIOTalonFX() {
         wristFeedBackConfigs.FeedbackRemoteSensorID = absoluteEncoder.getDeviceID();
         wristFeedBackConfigs.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
         //ask amber about below
-        wristFeedBackConfigs.SensorToMechanismRatio = 1.0;
-        wristFeedBackConfigs.RotorToSensorRatio = 81.0;
+        wristFeedBackConfigs.SensorToMechanismRatio = WRIST_STM;
+        wristFeedBackConfigs.RotorToSensorRatio = WRIST_RTS;
 
         MotionMagicConfigs wristMotionMagicConfig = configs.MotionMagic;
         wristMotionMagicConfig.MotionMagicCruiseVelocity = 1;