Team4388/2023WayOfTheRobot
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fixed gear ratios

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This commit is contained in:
aarav18
2023-02-07 17:53:32 -07:00
parent f7005093bb
commit aa42893b3b
2 changed files with 6 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
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@@ -67,11 +67,11 @@ public final class Constants {
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 1.0; // TODO: find the actual value
public static final double MOTOR_REV_PER_WHEEL_REV = 6.12; // TODO: find the actual value
public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value
public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value
public static final double WHEEL_DIAMETER_INCHES = 3.9;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
@@ -108,8 +108,8 @@ public final class Constants {
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
// dimensions
public static final double WIDTH = 18.5; // TODO: find the actual value
public static final double HEIGHT = 18.5; // TODO: find the actual value
public static final double WIDTH = 18.5;
public static final double HEIGHT = 18.5;
public static final double HALF_WIDTH = WIDTH / 2.d;
public static final double HALF_HEIGHT = HEIGHT / 2.d;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1
View File
@@ -176,6 +176,7 @@ public class SwerveDrive extends SubsystemBase {
SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
}
/**