Team4388/2026KPopRobotHunters
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Update gear ratios

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mimigamin
2026-03-19 14:21:46 -06:00
parent 85fe11c8bd
commit 73c3849569
10 changed files with 126 additions and 40 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+8 -7
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@@ -15,7 +15,7 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.29; // TODO: supposed to be 9 rotations in to 7 out
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 T_CONSTANT = 2;
public static final double SHOOTER_RADIUS = 2/39.37;
@@ -31,8 +31,8 @@ public class ShooterConstants {
// public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", -1.5);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.4);
public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -56,8 +56,9 @@ public class ShooterConstants {
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
5.6939*hubDistMeters +
22.76545 + MODEL_TRIM.get();
0.0593402*hubDistMeters*hubDistMeters +
4.90561*hubDistMeters +
30.35696 + MODEL_TRIM.get();
// double speed =
// 0.00610938*hubDistMeters*hubDistMeters
@@ -81,8 +82,8 @@ public class ShooterConstants {
// Motor Configuration
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.08)
.withKI(0.15)
.withKP(0.05)
.withKI(0.20)
.withKD(0.0);