Elevator Constants modifications

Creekside7688 · Feb 11, 2024 · f18e2c7 · f18e2c7
1 parent 20037f6
commit f18e2c7
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Showing 2 changed files with 9 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.java b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -8,11 +8,12 @@ public class ElevatorConstants {
     public static final IdleMode IDLE_MODE = IdleMode.kBrake;
     public static final int CURRENT_LIMIT = 50;
 
-    public static final double GEAR_RATIO = 1.0;
+    public static final double GEAR_RATIO = 5.0;
+    public static final double SPOOL_DIAMETER = 1.440; // Inches
 
     public static final boolean ENCODER_INVERTED = false;
-    public static final double ENCODER_POSITION_FACTOR = 1.0;
-    public static final double ENCODER_VELOCITY_FACTOR = 1.0 / 60.0;
+    public static final double ENCODER_POSITION_FACTOR = (SPOOL_DIAMETER * Math.PI) / GEAR_RATIO;
+    public static final double ENCODER_VELOCITY_FACTOR = ENCODER_POSITION_FACTOR / 60.0;
 
     public static final double P = 0.04;
     public static final double I = 0.0;
@@ -25,8 +26,10 @@ public class ElevatorConstants {
     public static final double V = 0.0;
     public static final double A = 0.0;
 
-    public static final double MAX_VELOCITY = 1.0;
-    public static final double MAX_ACCELERATION = 1.0;
+    public static final double MAX_VELOCITY = 55.0; // Inches per second
+    public static final double MAX_ACCELERATION = 550.0; // Inches per second squared. Assuming we can accelerate to max velocity in 0.1 seconds.
+
+    // Inches
 
     public static final double MAX_HEIGHT = 28.0;
     public static final double TARGET_HEIGHT = 28.0;

diff --git a/src/main/java/frc/robot/constants/ModuleConstants.java b/src/main/java/frc/robot/constants/ModuleConstants.java
@@ -21,7 +21,7 @@ public class ModuleConstants {
     public static final double DRIVE_WHEEL_FREE_SPEED_RPS = (DRIVE_MOTOR_FREE_SPEED_RPS * WHEEL_CIRCUMFERENCE_METRES) / DRIVE_MOTOR_REDUCTION;
 
     public static final double DRIVE_ENCODER_POSITION_FACTOR = (WHEEL_DIAMETER_METRES * Math.PI) / DRIVE_MOTOR_REDUCTION; // Metres
-    public static final double DRIVE_ENCODER_VELOCITY_FACTOR = ((WHEEL_DIAMETER_METRES * Math.PI) / DRIVE_MOTOR_REDUCTION) / 60.0; // Metres per second
+    public static final double DRIVE_ENCODER_VELOCITY_FACTOR = DRIVE_ENCODER_POSITION_FACTOR / 60.0; // Metres per second
 
     public static final double TURN_ENCODER_POSITION_FACTOR = (2 * Math.PI); // Radians
     public static final double TURN_ENCODER_VELOCITY_FACTOR = (2 * Math.PI) / 60.0; // Radians per second