Team4388/2026KPopRobotHunters
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Check gear ratio

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mimigamin
2026-03-18 13:39:27 -06:00
parent 86b36a687e
commit 85fe11c8bd
3 changed files with 16 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+3 -2
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@@ -15,8 +15,8 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.29; // TODO: supposed to be 9 rotations in to 7 out
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;
public static final double INDEXER_RADIUS = 0.625/39.37;
@@ -25,6 +25,7 @@ public class ShooterConstants {
// public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
// public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
// public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
// public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+8 -7
View File
@@ -411,10 +411,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
if (ballVelocity > 1E-3 && Math.abs(chassisSpeeds.vyMetersPerSecond) > 1E-3){
double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(Math.abs(ballVelocity));
// double aimOffset = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
double aimOffsetComplext = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
Logger.recordOutput("Offset", aimOffset);
Logger.recordOutput("Offset Simple", aimOffset);
Logger.recordOutput("Offset Complex", aimOffsetComplext);
}
@@ -532,11 +533,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
vision.setLastOdomPose(state.currentPose);
setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
// if (state.speeds != null) {
// this.chassisSpeeds = state.speeds;
// } else {
// this.chassisSpeeds = new ChassisSpeeds();
// }
if (state.speeds != null) {
this.chassisSpeeds = state.speeds;
} else {
this.chassisSpeeds = new ChassisSpeeds();
}
if (vision.isTag()) {
Pose2d pose = vision.getPose2d();