qdded some idk its about eauqtion or smt

Iron-Panthers · Dec 6, 2023 · 158f419 · 158f419
1 parent 5239b8e
commit 158f419
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Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -30,7 +30,13 @@ public static class Intake {
   }
 
   public static class Elevator{
-    public static final double GEAR_RATIO = 0.1008;
+    public static final double ELEVATOR_GEAR_RATIO = 0.1008;
+
+    private static final double CARRIAGE_RATIO = 2;
+
+    private static final double ELEVATOR_SPROCKET_DIAMETER_INCHES = 1.432;
+
+    private static final double FALCON_CPR = 2048;
 
     /**number of ticks per motor revolution */
     public static final double TICKS = 2048;

diff --git a/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 import frc.robot.Constants.Elevator;
 
 // private PIDController controller;
@@ -57,10 +58,14 @@ public ElevatorSubsystem() {
 
 
   public static double inchesToTicks(double height) {
-    return height * ((Elevator.GEAR_RATIO * Elevator.TICKS) / (Elevator.GEAR_CIRCUMFERENCE));
+    return Elevator.CARRIAGE_RATIO
+        * (Elevator.ELEVATOR_SPROCKET_DIAMETER_INCHES * Math.PI)
+        * ((ticks / Elevator.FALCON_CPR) * Elevator.ELEVATOR_GEAR_RATIO);
   }
   public static double ticksToInches(double ticks) {
-    return (ticks * Elevator.GEAR_CIRCUMFERENCE) / (Elevator.TICKS * Elevator.GEAR_RATIO);
+    return Elevator.CARRIAGE_RATIO
+        * (Elevator.ELEVATOR_SPROCKET_DIAMETER_INCHES * Math.PI)
+        * ((ticks / Elevator.FALCON_CPR) * Elevator.ELEVATOR_GEAR_RATIO);
   }
   public void setTargetHeight(double targetHeight){
     this.targetHeight = targetHeight;