fix(gearing): Intake/Outake now takes in rpm in desired output, then uses gearing to get desired motor output#75
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…multiplies by gearing to get motor output
| @@ -56,8 +56,10 @@ public void periodic() { | |||
| // Will only run once; For a continuous method, see runAtVelocity(Supplier<AngularVelocity>) | |||
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add a comment to say angular velocity of what (motor shaft vs output shaft)
also add what type of velocity inputs.velocity represents
| // Physical constants | ||
| public static final double kMomentOfInertia = 0.01; | ||
| public static final double kGearing = 1; | ||
| public static final double kGearing = 37 / (3 * 38); |
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write this more verbosely (eg. in each stage of the gearing)
Like: (1 / 3) * (37 / 38)
| public static final AngularVelocity kCoralOuttakeRPM = RPM.of(-1500); | ||
| public static final AngularVelocity kCoralStallRPM = RPM.of(500); | ||
| public static final AngularVelocity kAlgaeKnockRPM = RPM.of(-3000); | ||
| public static final AngularVelocity kCoralIntakeRPM = RPM.of(9243.243); |
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These don't look correct. The original RPM is the motor RPM, so this should be the output shaft RPM, which should be lower in magnitude, not higher.
You may want to add dedicated methods to convert between motor and output shaft RPMs to avoid confusion.
| endEffectorController.calculate(inputs.velocity.in(RPM), velocity.in(RPM)) | ||
| + feedforward.calculate(velocity.in(RPM)); | ||
| endEffectorController.calculate( | ||
| inputs.velocity.times(CoralEndEffectorConstants.kGearing).in(RPM), |
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I'd say inputs.velocity should be the motor RPM itself, so you don't need to multiply that part. You''d still have to multiply the inputted velocity to convert it from output RPM to motor RPM.
Also, in the IO implementation of this, make sure to put the conversion factors as 1 instead of our gearing. Otherwise, your inputs.velocity would be in output shaft RPM and PID values would change drastically if you decided to change the gearing.
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