more gear ratios yay

Team3256 · Nov 7, 2024 · 58dfd10 · 58dfd10
1 parent 5f41818
commit 58dfd10
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ampevator/AmpevatorConstants.java b/src/main/java/frc/robot/subsystems/ampevator/AmpevatorConstants.java
@@ -16,7 +16,8 @@
 public final class AmpevatorConstants {
 
   public static final int ampevatorID = 47;
-  public static final int ampevatorBeamBreakID = 0;
+
+  public static final double gearRatio = 30.0 / 11; // need to use this eventually
 
   public static final TalonFXConfiguration motorConfigs =
       new TalonFXConfiguration()

diff --git a/src/main/java/frc/robot/subsystems/climb/Climb.java b/src/main/java/frc/robot/subsystems/climb/Climb.java
@@ -50,7 +50,7 @@ public void periodic() {
   }
 
   public Command setPosition(double position) {
-    return this.run(() -> climbIO.setPosition(position * ClimbConstants.gearRatio));
+    return this.run(() -> climbIO.setPosition(position / ClimbConstants.gearRatio));
   }
 
   public Command setVoltage(double voltage) {

diff --git a/src/main/java/frc/robot/subsystems/climb/ClimbConstants.java b/src/main/java/frc/robot/subsystems/climb/ClimbConstants.java
@@ -14,11 +14,11 @@
 public final class ClimbConstants {
 
   public static final int kLeftClimbMotorID = 45;
-  public static final double gearRatio = 20; // needs to be tuned
+  public static final double gearRatio = 1.0 / 24; // needs to be tuned
 
-  public static final double kClimbUpPosition = 150 / 20;
+  public static final double kClimbUpPosition = 0;
 
-  public static final double kClimbDownPosition = 0;
+  public static final double kClimbDownPosition = 0; // TODO: tune
   public static final double wheelRadius = 1;
 
   public static double kCurrentThreshold = 4.5;