fix: units bug causing swerve to drive slow

FRC3636 · Feb 20, 2025 · 4ce51f4 · 4ce51f4
1 parent 39cce06
commit 4ce51f4
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt b/src/main/kotlin/com/frcteam3636/frc2025/subsystems/drivetrain/Module.kt
@@ -141,16 +141,16 @@ class DrivingTalon(id: CTREDeviceId) : DrivingMotor {
     }
 
     override val position: Distance
-        get() = inner.position.value.toLinear(WHEEL_CIRCUMFERENCE) * DRIVING_GEAR_RATIO_TALON
+        get() = inner.position.value.toLinear(WHEEL_RADIUS) * DRIVING_GEAR_RATIO_TALON
 
     private var velocityControl = VelocityVoltage(0.0).apply {
         EnableFOC = true
     }
 
     override var velocity: LinearVelocity
-        get() = (inner.velocity.value.inRotationsPerSecond() * DRIVING_GEAR_RATIO_TALON * WHEEL_CIRCUMFERENCE.inMeters()).metersPerSecond
+        get() = inner.velocity.value.toLinear(WHEEL_RADIUS) * DRIVING_GEAR_RATIO_TALON
         set(value) {
-            inner.setControl(velocityControl.withVelocity(value.inMetersPerSecond() / DRIVING_GEAR_RATIO_TALON / WHEEL_CIRCUMFERENCE.inMeters()))
+            inner.setControl(velocityControl.withVelocity(value.toAngular(WHEEL_RADIUS) / DRIVING_GEAR_RATIO_TALON))
         }
 
     private val voltageControl = VoltageOut(0.0).apply {

diff --git a/src/main/kotlin/com/frcteam3636/frc2025/subsystems/manipulator/Manipulator.kt b/src/main/kotlin/com/frcteam3636/frc2025/subsystems/manipulator/Manipulator.kt
@@ -36,7 +36,7 @@ object Manipulator : Subsystem {
         LoggedMechanismLigament2d("Manipulator Motor Angle", 40.0, 0.0, 5.0, Color8Bit(Color.kRed))
 
     private fun waitForIntake(): Command = Commands.sequence(
-        Commands.waitUntil { inputs.current > 0.85.amps },
+        Commands.waitUntil { inputs.current > 0.8.amps },
         Commands.defer({
             val targetRotations = inputs.position + 1.175.rotations
             Commands.waitUntil { inputs.position > targetRotations }