tuning time

frc2053 · Oct 31, 2024 · 3bca8cb · 3bca8cb
1 parent 89cd4c7
commit 3bca8cb
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -31,7 +31,7 @@ void Robot::RobotInit() {
     {60.5_in, {1500_rpm, 2500_rpm}},
     {76_in, {2500_rpm, 2053_rpm}},
     {88_in, {3100_rpm, 1900_rpm}},
-    {106_in, {3000_rpm, 1600_rpm}}
+    {106_in, {3000_rpm, 1650_rpm}}
   });
 }
 

diff --git a/src/main/include/constants/ShooterConstants.h b/src/main/include/constants/ShooterConstants.h
@@ -55,9 +55,9 @@ struct ShooterSpeeds {
 };
 
 inline constexpr ShooterSpeeds SPIT_SPEEDS{850_rpm, 850_rpm};
-inline constexpr ShooterSpeeds AMP_SPEEDS{850_rpm, 2000_rpm};
+inline constexpr ShooterSpeeds AMP_SPEEDS{750_rpm, 2250_rpm};
 inline constexpr ShooterSpeeds SUBWOOFER_SPEEDS{2053_rpm, 3800_rpm};
-inline constexpr ShooterSpeeds PASS_SPEEDS{5000_rpm, 5000_rpm};
+inline constexpr ShooterSpeeds PASS_SPEEDS{2053_rpm, 3500_rpm};
 
 struct MeterHash {
   size_t operator()(const units::meter_t& m) const {

diff --git a/src/main/include/constants/SwerveConstants.h b/src/main/include/constants/SwerveConstants.h
@@ -94,7 +94,7 @@ inline constexpr units::scalar_t COUPLING_RATIO = (50.0 / 16.0);
 inline constexpr frc::DCMotor DRIVE_MOTOR = frc::DCMotor::Falcon500FOC(1);
 inline constexpr frc::DCMotor STEER_MOTOR = frc::DCMotor::Falcon500FOC(1);
 
-inline constexpr units::meter_t WHEEL_RADIUS = 2_in;
+inline constexpr units::meter_t WHEEL_RADIUS = 1.9154_in;
 
 // Distance between center of drive wheels
 inline constexpr units::meter_t WHEELBASE_WIDTH = 21.75_in;