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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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)