Merge branch 'staging' into zhangal/visionSimFix

flamingchickens1540 · Feb 5, 2024 · 0b4581c · 0b4581c
2 parents 706b624 + 1c1b645
commit 0b4581c
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -110,8 +110,8 @@ public static class Vision {
     public static class Shooter {
         public static class Flywheels {
             // TODO: determine ids
-            public static final int LEFT_ID = 0;
-            public static final int RIGHT_ID = 0;
+            public static final int LEFT_ID = 11;
+            public static final int RIGHT_ID = 12;
 
             public static final double GEAR_RATIO = 24.0 / 36.0;
             public static final double SIM_MOI = 4.08232288e-4;
@@ -120,7 +120,7 @@ public static class Flywheels {
             public static final double KP = 0.4;
             public static final double KI = 0.0;
             public static final double KD = 0.0;
-            public static final double KS = 0.01146;
+            public static final double KS = 0.26925;
             public static final double KV = 0.07485; // TODO: this is what recalc says, may have to tune
 
             public static final double ERROR_TOLERANCE_RPM = 50;

diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOTalonFX.java
@@ -54,8 +54,8 @@ public FlywheelsIOTalonFX() {
 
         leftMotor.getConfigurator().apply(config);
         rightMotor.getConfigurator().apply(config);
-        leftMotor.setInverted(false);
-        rightMotor.setInverted(true);
+        leftMotor.setInverted(true);
+        rightMotor.setInverted(false);
 
         BaseStatusSignal.setUpdateFrequencyForAll(
                 50,