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IntakePivot and Shooter changes to make me hate them less, other minor fixes

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This commit is contained in:
Bradley Bickford
2026-02-07 07:17:55 -05:00
parent faff80fb9a
commit b68d7b7399
4 changed files with 46 additions and 60 deletions
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12
src/main/java/frc/robot/constants/IntakePivotConstants.java
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@@ -40,18 +40,18 @@ public class IntakePivotConstants {
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig KLeftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
static {
leftMotorConfig
KLeftMotorConfig
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors);
leftMotorConfig.absoluteEncoder
KLeftMotorConfig.absoluteEncoder
.positionConversionFactor(kConversionFactor)
.velocityConversionFactor(kConversionFactor / 60);
leftMotorConfig.closedLoop
KLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kP, kI, kD)
.outputRange(-1, 1)
@@ -60,7 +60,7 @@ public class IntakePivotConstants {
.feedForward
.sva(kS, kV, kA);
rightMotorConfig
kRightMotorConfig
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors)

2
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -28,6 +28,8 @@ public class ShooterConstants {
}
}
// TODO Conversion factor?
public static final double kWheelDiameter = Units.inchesToMeters(6);
// TODO Real values