Gear ratios

Iron-Panthers · Oct 25, 2023 · 9f2496e · 9f2496e
1 parent a5485ad
commit 9f2496e
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Showing 4 changed files with 3 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -212,12 +212,12 @@ public static final class Setpoints {
     public static final double MIN_HEIGHT = 0;
 
     public static final int ELEVATOR_TICKS = 2048;
-    public static final double ELEVATOR_GEAR_RATIO = 1.0;
-    public static final double ELEVATOR_GEAR_CIRCUMFERENCE = 1.5 * Math.PI;
+    public static final double ELEVATOR_GEAR_RATIO = 1 / 9.9206;
+    public static final double ELEVATOR_GEAR_CIRCUMFERENCE = 1.432 * Math.PI;
 
     public static final int WRIST_TICKS = 2048;
     public static final double WRIST_DEGREES = 360;
-    public static final double WRIST_GEAR_RATIO = 0.061;
+    public static final double WRIST_GEAR_RATIO = 1 / 75;
 
     public static final double ANGLE_EPSILON = 0.5;
     public static final double HEIGHT_EPSILON = 5;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -201,10 +201,6 @@ public void containerMatchStarting() {
    */
   private void configureButtonBindings() {
 
-    /* Current Controls:
-     * Back buttons: Zero gyroscope,
-     */
-
     // vibrate jacob controller when in layer
     jacobLayer.whenChanged(
         (enabled) -> {

diff --git a/src/main/java/frc/robot/commands/ScoreCommand.java b/src/main/java/frc/robot/commands/ScoreCommand.java
@@ -70,12 +70,9 @@ private Command createStep(ScoreStep scoreStep) {
     var elevatorState = scoreStep.elevatorState();
     var intakeState = scoreStep.intakeState();
     if (elevatorState.isPresent() && intakeState.isPresent()) {
-      // FIXME: we need a working elevatorposition command here
       return new ElevatorPositionCommand(elevatorSubsystem, elevatorState.get())
           .deadlineWith(new IntakeModeCommand(intakeSubsystem, intakeState.get()));
     } else if (elevatorState.isPresent()) {
-
-      // FIXME: we need a working elevatorposition command here
       return new ElevatorPositionCommand(elevatorSubsystem, elevatorState.get());
     } else if (intakeState.isPresent()) {
       return new IntakeModeCommand(intakeSubsystem, intakeState.get());

diff --git a/src/main/java/frc/robot/commands/SetZeroModeCommand.java b/src/main/java/frc/robot/commands/SetZeroModeCommand.java
@@ -33,7 +33,6 @@ public SetZeroModeCommand(ElevatorSubsystem elevatorSubsystem, boolean includeWr
     this(elevatorSubsystem, Optional.of(includeWrist), Optional.of(true));
   }
 
-  // FIXME make it zero elevator + wrist
   @Override
   public void initialize() {
     new ElevatorPositionCommand(elevatorSubsystem, Constants.Elevator.Setpoints.ZERO);