constants

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 8e76fa56f5e160c1ba810faf104b5fde663834d1..b0249eee69500042dc18a6ae11b2f09ae4ac223b 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -15,7 +15,7 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 58.9670081,
+  "robotMass": 61.098892,
   "robotMOI": 7.504,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.05,

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index b6f326ae75e5dbbec53a9cc39cafff25f5593282..827817afda1fefdcdb25787e633b4e600d945681 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -25,7 +25,7 @@ public class DriveConstants {
      */
     public static final double ROBOT_WIDTH_WITH_BUMPERS = 0.832;
 
-    public static double ROBOT_MASS = 31;
+    public static double ROBOT_MASS = Units.lbsToKilograms(108.3 + 13 + 13.4);
 
     /** Radius of the drive wheels [meters]. */
     public static final double WHEEL_RADIUS = Units.inchesToMeters(1.95);
@@ -213,8 +213,8 @@ public class DriveConstants {
                 INVERT_STEER_MOTOR = InvertedValue.CounterClockwise_Positive;
 
                 // Gear ratios 
-                DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R2 Ratio
-                // DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R1 Ratio
+                //DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R2 Ratio
+                DRIVE_GEAR_RATIO = (54.0 / 14.0) * (25.0 / 32.0) * (30.0 / 15.0); //R1 Ratio
                 STEER_GEAR_RATIO = 287.0 / 11.0;
 
                 // Gyro is mounted under the robot