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Robot geometry update #9

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Merged
madmosserc merged 7 commits into from
Mar 19, 2025
Merged

Robot geometry update #9

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0310fca
WIP (squash later)
srimanachanta Jan 18, 2025
94bbec0
Merge branch 'main' of https://github.com/Talon540Programming/Reefsca…
Bluewaves54 Feb 3, 2025
c050422
Merge branch 'main' of https://github.com/Talon540Programming/Reefsca…
madmosserc Mar 11, 2025
e1904bc
Elevator constants update
madmosserc Mar 11, 2025
c7d3814
continuous elevator changes; no dependency on the number of stages re…
Talon540-root Mar 16, 2025
b50ec6d
updated the dispensser angle and height from floor center to base plate
madmosserc Mar 18, 2025
1e3be82
formatting fixes
madmosserc Mar 19, 2025
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/elevator/ElevatorBase.java
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Original file line number Diff line number Diff line change
Expand Up @@ -186,7 +186,7 @@ public void periodic() {
}

io.runPosition(
setpoint.position / drumRadius / numStages,
setpoint.position / drumRadius,
feedforward.calculateWithVelocities(setpoint.velocity, previousVelocity));

// Check at goal
Expand Down Expand Up @@ -284,7 +284,7 @@ public Command homingSequence() {

@AutoLogOutput(key = "Elevator/MeasuredHeightMeters")
public double getPositionMeters() {
return inputs.positionRads * drumRadius * numStages;
return inputs.positionRads * drumRadius;
}

public double getGoalMeters() {
Expand Down
16 changes: 8 additions & 8 deletions src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,18 +5,18 @@

public class ElevatorConstants {
// Pitch from Floor to Elevator
public static final Rotation2d elevatorPitch = Rotation2d.fromDegrees(84.5);
public static final Rotation2d elevatorPitch = Rotation2d.fromDegrees(86.0);
// Pitch from Elevator to Dispenser
public static final Rotation2d dispenserPitch = Rotation2d.fromDegrees(73.0);
public static final Rotation2d dispenserPitch = Rotation2d.fromDegrees(61.6);

public static final double originToBaseHeightMeters = Units.inchesToMeters(5.149922);
public static final double originToBaseHeightMeters =
Units.inchesToMeters(6.288); // <-- highest edge on slam plate
// 6.148 to the lowest edge, 6.218 to centroid

public static final double drumRadius = Units.inchesToMeters(1.751 / 2.0);
public static final double gearing = 3.0;
public static final int numStages = 2;
public static final double drumRadius = Units.inchesToMeters(1.0);
public static final double gearing = 4.0;

// public static final double maxTravel = Units.inchesToMeters(42.244094); // TODO
public static final double maxTravel = Units.inchesToMeters(42); // TODO
public static final double maxTravel = Units.inchesToMeters(41); // TODO

public static final double carriageMassKg = Units.lbsToKilograms(6.0);
public static final double stagesMassKg = Units.lbsToKilograms(12.0);
Expand Down