fix: Change gear ratios.

Gongoliers · Apr 2, 2024 · a65a257 · a65a257
1 parent 2dd37bb
commit a65a257
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Showing 5 changed files with 41 additions and 9 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -98,10 +98,10 @@
   ],
   "robotJoysticks": [
     {
-      "guid": "78696e70757401000000000000000000",
       "useGamepad": true
     },
     {
+      "guid": "78696e70757401000000000000000000",
       "useGamepad": true
     }
   ]

diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java b/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java
@@ -1,9 +1,13 @@
 package frc.robot.arm;
 
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
@@ -14,6 +18,8 @@ public class ShoulderMotorIOTalonFX implements ShoulderMotorIO {
 
   private final TalonFX eastTalonFX, westTalonFX;
 
+  private final CANcoder cancoder;
+
   /** Feedback controller for shoulder position. */
   private final PIDController feedback;
 
@@ -25,24 +31,34 @@ public ShoulderMotorIOTalonFX() {
     eastTalonFX = new TalonFX(0); // TODO
     westTalonFX = new TalonFX(0); // TODO
 
+    cancoder = new CANcoder(0); // TODO
+
     feedback = new PIDController(0, 0, 0);
 
     feedforward = new ArmFeedforward(0, 0, 0);
   }
 
   @Override
   public void configure() {
-    final TalonFXConfiguration config = new TalonFXConfiguration();
+    final TalonFXConfiguration talonFXConfig = new TalonFXConfiguration();
+
+    // talonFXConfig.Feedback.SensorToMechanismRatio = 39.771428571;
+
+    talonFXConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    talonFXConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+    Configurator.configureTalonFX(eastTalonFX.getConfigurator(), talonFXConfig);
+
+    talonFXConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+    Configurator.configureTalonFX(westTalonFX.getConfigurator(), talonFXConfig);
 
-    config.Feedback.SensorToMechanismRatio = 1.0; // TODO
+    final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration();
 
-    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+    cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
 
-    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    Configurator.configureTalonFX(eastTalonFX.getConfigurator(), config);
+    cancoderConfig.MagnetSensor.MagnetOffset = -0.0; // TODO
 
-    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-    Configurator.configureTalonFX(westTalonFX.getConfigurator(), config);
+    Configurator.configureCANcoder(cancoder.getConfigurator(), cancoderConfig);
   }
 
   @Override

diff --git a/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java b/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
@@ -2,6 +2,7 @@
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.Configurator;
@@ -24,11 +25,16 @@ public RollerMotorIOTalonFX() {
   public void configure() {
     final TalonFXConfiguration config = new TalonFXConfiguration();
 
-    config.Feedback.SensorToMechanismRatio = 1.0; // TODO
+    config.Feedback.SensorToMechanismRatio = 24.0 / 16.0;
 
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
 
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
     Configurator.configureTalonFX(topTalonFX.getConfigurator(), config);
+
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
     Configurator.configureTalonFX(bottomTalonFX.getConfigurator(), config);
   }
 

diff --git a/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java b/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java
@@ -3,6 +3,7 @@
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.Configurator;
@@ -29,8 +30,12 @@ public FlywheelMotorIOTalonFX() {
   public void configure() {
     final TalonFXConfiguration config = new TalonFXConfiguration();
 
+    config.Feedback.SensorToMechanismRatio = 36.0 / 16.0;
+
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
 
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
     Configurator.configureTalonFX(talonFX.getConfigurator(), config);
   }
 

diff --git a/src/main/java/frc/robot/shooter/SerializerMotorIOTalonFX.java b/src/main/java/frc/robot/shooter/SerializerMotorIOTalonFX.java
@@ -3,6 +3,7 @@
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.Configurator;
@@ -29,8 +30,12 @@ public SerializerMotorIOTalonFX() {
   public void configure() {
     final TalonFXConfiguration config = new TalonFXConfiguration();
 
+    config.Feedback.SensorToMechanismRatio = 36.0 / 16.0;
+
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
 
+    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+
     Configurator.configureTalonFX(talonFX.getConfigurator(), config);
   }