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update gearshifting logic

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This commit is contained in:
Michael Mikovsky
2024-08-27 17:45:51 -06:00
parent f77712aa94
commit 721f160f37
3 changed files with 29 additions and 27 deletions
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src/main/java/frc4388/robot/Constants.java
+15 -14
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@@ -35,19 +35,20 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.5;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
public static final double SLOW_SPEED = 0.25;
public static final double FAST_SPEED = 0.5;
public static final double TURBO_SPEED = 1.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = -0.130126953125 + 0.25 + 0.25;
public static final double FRONT_RIGHT_ROT_OFFSET = 0.364990234375 + 0.25;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -0.4775390625 + 0.25;
public static final double BACK_RIGHT_ROT_OFFSET = 0.356201171875 + 0.25;
public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 +0.5 ;//+ 0.5;
public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 +0.5 ;//+ 0.5;
public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875+0.5 ;
public static final double BACK_RIGHT_ROT_OFFSET = 0.60595703125 +0.5 ;
}
public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
public static final int RIGHT_FRONT_ENCODER_ID = 10;
@@ -59,7 +60,7 @@ public final class Constants {
public static final int LEFT_BACK_STEER_ID = 7;
public static final int LEFT_BACK_ENCODER_ID = 12;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_WHEEL_ID = 8;
public static final int RIGHT_BACK_STEER_ID = 9;
public static final int RIGHT_BACK_ENCODER_ID = 13;
}
@@ -84,15 +85,15 @@ public final class Constants {
}
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final int CANCODER_TICKS_PER_ROTATION = 1;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 6.22;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = JOYSTICK_TO_METERS_PER_SECOND_FAST * 0.3;
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 TICKS_PER_MOTOR_REV = 0.5;
public static final double WHEEL_DIAMETER_INCHES = 3.9;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
@@ -111,7 +112,7 @@ public final class Constants {
public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
}
public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
public static final double MAX_SPEED_FEET_PER_SECOND = 20.4; // TODO: find the actual value
public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
// dimensions