commit ce385c3ecd543f563820a6314d7da222497be6dd
author Filip Kujawa <filip.j.kujawa@gmail.com> Fri Feb 16 10:39:49 2024 -0800
committer Filip Kujawa <filip.j.kujawa@gmail.com> Sun Feb 18 21:31:24 2024 -0800
tree 5ba26690c29cedc865858c8801db20958e41642a
parent d75252aac03978d02f517d61c61ba67f5f0f7ed7

Fix output ratios in wpilib_interface

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Ie70dec56dc1f6859a9a17bfb3dfe9ae5af23c5c4

y2024/constants.h

diff --git a/y2024/constants.h b/y2024/constants.h
index a5bef55..2e482e6 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -108,6 +108,14 @@
            control_loops::superstructure::extend::kOutputRatio /
            kExtendEncoderRatio() * kExtendEncoderCountsPerRevolution();
   }
+
+  // 20 -> 28 reduction to a 0.5" radius roller
+  static constexpr double kTransferRollerOutputRatio = (20.0 / 28.0) * 0.0127;
+  // 20 -> 34 reduction, and the 34 is on a 0.625" radius roller
+  static constexpr double kIntakeRollerOutputRatio = (20.0 / 34.0) * 0.015875;
+  // 20 -> 28 reduction to a 0.5" radius roller
+  static constexpr double kExtendRollerOutputRatio = (20.0 / 28.0) * 0.0127;
+
   struct PotAndAbsEncoderConstants {
     ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
         ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 6cb8079..dd8f437 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -447,7 +447,7 @@
 
           intake_pivot->SerializePosition(
               superstructure_can_builder->add_intake_pivot(),
-              control_loops::drivetrain::kHighOutputRatio);
+              superstructure::intake_pivot::kOutputRatio);
 
           superstructure_can_builder->set_timestamp(
               intake_pivot->GetTimestamp());
@@ -473,18 +473,17 @@
 
           intake_roller->SerializePosition(
               superstructure_can_builder->add_intake_roller(),
-              control_loops::drivetrain::kHighOutputRatio);
+              constants::Values::kIntakeRollerOutputRatio);
           transfer_roller->SerializePosition(
               superstructure_can_builder->add_transfer_roller(),
-              control_loops::drivetrain::kHighOutputRatio);
-          climber->SerializePosition(
-              superstructure_can_builder->add_climber(),
-              control_loops::drivetrain::kHighOutputRatio);
+              constants::Values::kIntakeRollerOutputRatio);
+          climber->SerializePosition(superstructure_can_builder->add_climber(),
+                                     superstructure::climber::kOutputRatio);
           extend->SerializePosition(superstructure_can_builder->add_extend(),
                                     superstructure::extend::kOutputRatio);
           extend_roller->SerializePosition(
               superstructure_can_builder->add_extend_roller(),
-              control_loops::drivetrain::kHighOutputRatio);
+              constants::Values::kExtendRollerOutputRatio);
 
           superstructure_can_builder->set_timestamp(
               intake_roller->GetTimestamp());