Team4388/2026KPopRobotHunters
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mimigamin
2026-04-02 18:27:51 -06:00
parent 82be568dc4
commit 3750a97424
4 changed files with 8 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -4
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@@ -16,7 +16,7 @@ public class ShooterConstants {
// Motor conversions
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.286; // TODO: supposed to be 9 rotations in to 7 out -- 0.77 or 1.29
public static final double INDEXER_GEAR_RATIO = 1.72; // TODO: change it is supposed to be 18 to 31
// public static final double INDEXER_GEAR_RATIO = 1.;
public static final double T_CONSTANT = 2;
public static final double SHOOTER_RADIUS = 2/39.37;
public static final double INDEXER_RADIUS = 0.625/39.37;
@@ -116,7 +116,7 @@ public class ShooterConstants {
).withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
.withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
);
public static final TalonFXConfiguration SHOOTER2_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
@@ -126,7 +126,7 @@ public class ShooterConstants {
).withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
.withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
);
public static final TalonFXConfiguration INDEXER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -137,6 +137,6 @@ public class ShooterConstants {
).withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
.withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
);
}