fix: made gear ratios non-zero

flamingchickens1540 · Jan 28, 2024 · 671b55a · 671b55a
1 parent 33b1517
commit 671b55a
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -56,15 +56,16 @@ public static class Drivetrain {
         public static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS;
     }
     public static class Indexer {
+        // TODO: fix these constants
         public static final int INTAKE_ID = 0;
         public static final int FEEDER_ID = 0;
         public static final double FEEDER_KP = 0.0;
         public static final double FEEDER_KI = 0.0;
         public static final double FEEDER_KD = 0.0;
         public static final double FEEDER_KS = 0.0;
         public static final double FEEDER_KV = 0.0;
-        public static final double FEEDER_GEAR_RATIO = 0.0;
-        public static final double INTAKE_GEAR_RATIO = 0.0;
+        public static final double FEEDER_GEAR_RATIO = 1.0;
+        public static final double INTAKE_GEAR_RATIO = 1.0;
 
     }
 }
diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java
@@ -12,7 +12,7 @@ class IndexerIOInputs {
         public double feederVoltage;
         public double feederCurrentAmps;
         public double feederVelocityRPM;
-        public boolean noteInIntake;
+        public boolean noteInIntake = false;
     }
 
     /**

diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java
@@ -14,7 +14,7 @@ public class IndexerIOSim implements IndexerIO {
 
     private final DCMotorSim intakeSim = new DCMotorSim(DCMotor.getNEO(1), INTAKE_GEAR_RATIO,0.025);
     private final DCMotorSim feederSim = new DCMotorSim(DCMotor.getNEO(1), FEEDER_GEAR_RATIO,0.025);
-    private final SimDeviceSim beamBreakSim = new SimDeviceSim("Indexer Beam Break");
+//    private final SimDeviceSim beamBreakSim = new SimDeviceSim("Indexer Beam Break");
     private final PIDController feederSimPID = new PIDController(FEEDER_KP, FEEDER_KI,FEEDER_KD);
 
     @Override
@@ -27,10 +27,10 @@ public void updateInputs(IndexerIOInputs inputs) {
         inputs.feederCurrentAmps = feederSim.getCurrentDrawAmps();
 //        inputs.feederVoltage = feederSim.getBusVoltage() * feederSim.getAppliedOutput();
         inputs.feederVelocityRPM = feederSim.getAngularVelocityRPM();
-        inputs.noteInIntake = beamBreakSim.getBoolean("Indexer Beam Break").get();
+//        inputs.noteInIntake = beamBreakSim.getBoolean("Indexer Beam Break").get();
 
         // this is a very funny line of code, and absolutely does not belong here, but I don't know how to do this otherwise
-        feederSim.setState(feederSim.getAngularPositionRad(), feederSimPID.calculate(feederSim.getAngularVelocityRadPerSec()));
+        feederSim.setState(feederSim.getAngularPositionRad(),  feederSimPID.calculate(feederSim.getAngularVelocityRadPerSec()));
 
     }