Skip to content

Update turret ratios #68

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nlaverdure merged 2 commits into from
Feb 13, 2026
Merged

Update turret ratios #68

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
eb7d1ed
made everything but the turret a simulation
DylanTaylor29 Feb 13, 2026
13143dd
invert motor and update gear ratio
nlaverdure Feb 13, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 12 additions & 10 deletions src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,6 @@
import frc.robot.subsystems.drive.GyroIOBoron;
import frc.robot.subsystems.drive.ModuleIO;
import frc.robot.subsystems.drive.ModuleIOSimWPI;
import frc.robot.subsystems.drive.ModuleIOTalonFX;
import frc.robot.subsystems.feeder.Feeder;
import frc.robot.subsystems.feeder.KickerIO;
import frc.robot.subsystems.feeder.KickerIOSimSpark;
Expand All @@ -54,7 +53,6 @@
import frc.robot.subsystems.launcher.TurretIOSpark;
import frc.robot.subsystems.vision.Vision;
import frc.robot.subsystems.vision.VisionIO;
import frc.robot.subsystems.vision.VisionIOPhotonVision;
import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
import frc.robot.util.CanandgyroThread;
import frc.robot.util.SparkOdometryThread;
Expand Down Expand Up @@ -116,18 +114,22 @@ public Robot() {
drive =
new Drive(
new GyroIOBoron(),
new ModuleIOTalonFX(DriveConstants.FrontLeft),
new ModuleIOTalonFX(DriveConstants.FrontRight),
new ModuleIOTalonFX(DriveConstants.BackLeft),
new ModuleIOTalonFX(DriveConstants.BackRight));
new ModuleIOSimWPI(DriveConstants.FrontLeft),
new ModuleIOSimWPI(DriveConstants.FrontRight),
new ModuleIOSimWPI(DriveConstants.BackLeft),
new ModuleIOSimWPI(DriveConstants.BackRight));
vision =
new Vision(
drive::addVisionMeasurement,
drive::getPose,
new VisionIOPhotonVision(cameraFrontRightName, robotToFrontRightCamera),
new VisionIOPhotonVision(cameraFrontLeftName, robotToFrontLeftCamera),
new VisionIOPhotonVision(cameraBackRightName, robotToBackRightCamera),
new VisionIOPhotonVision(cameraBackLeftName, robotToBackLeftCamera));
new VisionIOPhotonVisionSim(
cameraFrontRightName, robotToFrontRightCamera, drive::getPose),
new VisionIOPhotonVisionSim(
cameraFrontLeftName, robotToFrontLeftCamera, drive::getPose),
new VisionIOPhotonVisionSim(
cameraBackRightName, robotToBackRightCamera, drive::getPose),
new VisionIOPhotonVisionSim(
cameraBackLeftName, robotToBackLeftCamera, drive::getPose));
launcher =
new Launcher(
drive::getPose,
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,15 +71,15 @@ public static final class TurretConstants {
// Geometry
public static final Transform3d chassisToTurretBase =
new Transform3d(Inches.of(0), Inches.of(10), Inches.of(22), Rotation3d.kZero);
public static final Rotation2d absEncoderOffset = new Rotation2d(0.5);
public static final Rotation2d mechanismOffset = Rotation2d.kCCW_Pi_2;
public static final Rotation2d absEncoderOffset = new Rotation2d(5.3);
public static final Rotation2d mechanismOffset = Rotation2d.k180deg;
public static final Angle rangeOfMotion = Degrees.of(240);

// Position controller
public static final double kPReal = 0.5;

// Motor controller
public static final double motorReduction = 5.0;
public static final double motorReduction = 9.0 * 72.0 / 12.0;
public static final AngularVelocity maxAngularVelocity =
NEO550Constants.kFreeSpeed.div(motorReduction);
public static final double encoderPositionFactor = (2 * Math.PI) / motorReduction; // Radians
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ public TurretIOSpark() {
var turnConfig = new SparkMaxConfig();

turnConfig
.inverted(false)
.inverted(true)
.idleMode(IdleMode.kBrake)
.smartCurrentLimit(NEO550Constants.kDefaultSupplyCurrentLimit)
.voltageCompensation(RobotConstants.kNominalVoltage);
Expand Down