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remove swervedrive constants conversions

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This commit is contained in:
C4llSiqn
2025-01-08 18:40:23 -07:00
parent c1f4829eaf
commit 34efb5698e
2 changed files with 1 additions and 21 deletions
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src/main/java/frc4388/robot/Constants.java
-19
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@@ -175,25 +175,6 @@ public final class Constants {
public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
}
public static final class Conversions {
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 * 0.5;
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 = 0.5;
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;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
public static final double TICK_TIME_TO_SECONDS = 10;
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
}
public static final class Configurations {
public static final double OPEN_LOOP_RAMP_RATE = 0.0; // Todo: Test. think this will help.
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -2
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@@ -26,7 +26,6 @@ import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.SwerveDriveConstants.Conversions;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
@@ -200,7 +199,7 @@ public class SwerveDrive extends Subsystem {
}
public void setPercentOutput(double speed) {
speedAdjust = Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST * speed;
speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
gear_index = -1;
}