change sim gear ratio

frc2053 · Sep 3, 2024 · 3cae4b3 · 3cae4b3
1 parent ee3109c
commit 3cae4b3
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/cpp/subsystems/IntakeSubsystem.cpp b/src/main/cpp/subsystems/IntakeSubsystem.cpp
@@ -62,7 +62,7 @@ void IntakeSubsystem::SimulationPeriodic() {
     intakeMotorSim.SetSupplyVoltage(frc::RobotController::GetBatteryVoltage());
     intakeSim.SetInputVoltage(intakeMotorSim.GetMotorVoltage());
     intakeSim.Update(consts::LOOP_PERIOD);
-    intakeMotorSim.SetRotorVelocity(intakeSim.GetAngularVelocity());
+    intakeMotorSim.SetRotorVelocity(intakeSim.GetAngularVelocity() * consts::intake::physical::INTAKE_RATIO);
 }
 
 bool IntakeSubsystem::ConfigureIntakeMotor(bool invert,

diff --git a/src/main/cpp/subsystems/ShooterSubsystem.cpp b/src/main/cpp/subsystems/ShooterSubsystem.cpp
@@ -93,8 +93,8 @@ void ShooterSubsystem::SimulationPeriodic() {
     topFlywheelSim.Update(consts::LOOP_PERIOD);
     bottomFlywheelSim.Update(consts::LOOP_PERIOD);
 
-    topMotorSim.SetRotorVelocity(topFlywheelSim.GetAngularVelocity());
-    bottomMotorSim.SetRotorVelocity(bottomFlywheelSim.GetAngularVelocity());
+    topMotorSim.SetRotorVelocity(topFlywheelSim.GetAngularVelocity() * consts::shooter::physical::SHOOTER_RATIO);
+    bottomMotorSim.SetRotorVelocity(bottomFlywheelSim.GetAngularVelocity() * consts::shooter::physical::SHOOTER_RATIO);
 }
 
 void ShooterSubsystem::UpdateNTEntries() {