Team_2648/2026-Robot-Code
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added values from calculations and cad.

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This commit is contained in:
Tylr-J42
2026-02-26 08:18:07 -05:00
parent e2c2eaafc9
commit 7621cfd009
10 changed files with 44 additions and 41 deletions
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2
src/main/java/frc/robot/constants/AutoConstants.java
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@@ -14,7 +14,7 @@ import edu.wpi.first.math.util.Units;
// TODO This is all hold over from 2025, does any of it need to change?
public class AutoConstants {
public static final double kMaxSpeedMetersPerSecond = 5;
public static final double kMaxSpeedMetersPerSecond = 4;
public static final double kMaxAccelerationMetersPerSecondSquared = 4;
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI;

3
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@@ -9,8 +9,7 @@ import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
public class DrivetrainConstants {
// TODO Hold over from 2025, adjust?
public static final double kMaxSpeedMetersPerSecond = 4.125;
public static final double kMaxSpeedMetersPerSecond = 4.663;
public static final double kMaxAngularSpeed = 2 * Math.PI;
public static final double kTrackWidth = Units.inchesToMeters(23.75);

2
src/main/java/frc/robot/constants/HoodConstants.java
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@@ -17,7 +17,7 @@ public class HoodConstants {
// TODO Real Values
public static final int kMotorCANID = 0;
public static final double kConversionFactor = 0;
public static final double kConversionFactor = 3.0*147.0/8.0;
public static final double kP = 0;
public static final double kI = 0;

17
src/main/java/frc/robot/constants/IntakePivotConstants.java
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@@ -7,8 +7,8 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
public class IntakePivotConstants {
// TODO Real values
public enum IntakePivotPosition {
kUp(0),
kDown(0);
kUp(Math.toRadians(116.0)),
kDown(Math.toRadians(0.0));
private double positionRadians;
private IntakePivotPosition(double positionRadians) {
@@ -23,7 +23,7 @@ public class IntakePivotConstants {
public static final int kLeftMotorCANID = 0;
public static final int kRightMotorCANID = 0;
public static final double kConversionFactor = 0;
public static final double kConversionFactor = 60.0/11.0*60.0/18.0*38.0/16.0;
// Ultra conservative multiplier to prevent 1/8" lexan destruction, modify at your own peril
public static final double kMaxManualSpeedMultiplier = .3;
@@ -32,8 +32,9 @@ public class IntakePivotConstants {
public static final double kI = 0;
public static final double kD = 0;
public static final double kS = 0;
public static final double kV = 0;
public static final double kA = 0;
public static final double kV = 5.26;
public static final double kA = 0.05;
public static final double kG = 0.25;
public static final boolean kInvertMotors = false;
@@ -51,17 +52,17 @@ public class IntakePivotConstants {
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors);
KLeftMotorConfig.absoluteEncoder
KLeftMotorConfig.encoder
.positionConversionFactor(kConversionFactor)
.velocityConversionFactor(kConversionFactor / 60);
KLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
.pid(kP, kI, kD)
.outputRange(-1, 1)
.positionWrappingEnabled(true)
.positionWrappingInputRange(0, 2 * Math.PI)
.feedForward
.sva(kS, kV, kA);
.svag(kS, kV, kA, kG);
kRightMotorConfig
.idleMode(kIdleMode)

2
src/main/java/frc/robot/constants/IntakeRollerConstants.java
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@@ -8,7 +8,7 @@ public class IntakeRollerConstants {
public static final int kLeftMotorCANID = 0;
public static final int kRightMotorCANID = 0;
public static final int kCurrentLimit = 30;
public static final int kCurrentLimit = 40;
public static final boolean kInvertMotors = false;

8
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -24,7 +24,7 @@ public class ShooterConstants {
// TODO Conversion factor?
public static final double kWheelDiameter = Units.inchesToMeters(6);
public static final double kWheelDiameter = Units.inchesToMeters(4);
// TODO Real values
public static final int kLeftShooterMotor1CANID = 0;
@@ -41,20 +41,20 @@ public class ShooterConstants {
public static final double kLeftI = 0;
public static final double kLeftD = 0;
public static final double kLeftS = 0;
public static final double kLeftV = 0;
public static final double kLeftV = 0.21;
public static final double kLeftA = 0;
public static final double kRightP = 0;
public static final double kRightI = 0;
public static final double kRightD = 0;
public static final double kRightS = 0;
public static final double kRightV = 0;
public static final double kRightV = 0.21;
public static final double kRightA = 0;
public static final double kShooterHeightMeters = 0;
// TODO Is this value sane?
public static final int kCurrentLimit = 30;
public static final int kCurrentLimit = 50;
public static final IdleMode kShooterIdleMode = IdleMode.kCoast;

6
src/main/java/frc/robot/constants/SpindexerConstants.java
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@@ -12,9 +12,9 @@ public class SpindexerConstants {
public static final int kSpindexerMotorCANID = 0;
public static final int kFeederMotorCANID = 0;
public static final int kSpindexerStatorCurrentLimit = 80;
public static final int kSpindexerSupplyCurrentLimit = 30;
public static final int kFeederCurrentLimit = 30;
public static final int kSpindexerStatorCurrentLimit = 90;
public static final int kSpindexerSupplyCurrentLimit = 50;
public static final int kFeederCurrentLimit = 40;
public static final boolean kFeederMotorInverted = false;