From 800a1cc14c104773e860837bec96bc6081507819 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Tue, 20 Jan 2026 15:37:22 -0800 Subject: [PATCH] ffsg --- .../java/frc/robot/subsystems/turret/Turret.java | 6 +++--- .../robot/subsystems/turret/TurretConstants.java | 14 ++++++++++++-- 2 files changed, 15 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 8475f05..76dd7a3 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -91,8 +91,8 @@ public class Turret extends SubsystemBase { config.Slot0.kD = Units.radiansToRotations(0.00 * 12); // Derivative term (used to dampen oscillations) MotionMagicConfigs motionMagicConfigs = config.MotionMagic; - motionMagicConfigs.MotionMagicCruiseVelocity = Units.degreesToRotations(90) * gearRatio; // max velocity * gear ratio - motionMagicConfigs.MotionMagicAcceleration = Units.degreesToRotations(90) * gearRatio; // max Acceleration * gear ratio + motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY / TurretConstants.TURRET_RADIUS) * gearRatio; // max velocity * gear ratio + motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; motor.getConfigurator().apply(config); @@ -180,7 +180,7 @@ public class Turret extends SubsystemBase { double motorTargetRotations = (setpoint / 360.0) * gearRatio; //Tune this with rotating robot - double dV = 0; + double dV = TurretConstants.ROTATIONAL_VELOCITY_CONSTANT; motor.setControl(voltageRequest.withPosition(motorTargetRotations).withFeedForward(dV * robotRotVel)); } } diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java index c505ce2..569cc38 100644 --- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@ -1,6 +1,16 @@ package frc.robot.subsystems.turret; +import edu.wpi.first.math.util.Units; + public class TurretConstants { - public static double MAX_ANGLE = 150; - public static double MIN_ANGLE = -150; + public static double MAX_ANGLE = 180; + public static double MIN_ANGLE = -180; + + public static double MAX_VELOCITY = 0.1; // m/s + public static double MAX_ACCELERATION = 5; // m/s^2 + + public static double TURRET_WIDTH = Units.feetToMeters(1.0); + public static double TURRET_RADIUS = TURRET_WIDTH / 2; + + public static double ROTATIONAL_VELOCITY_CONSTANT = 0; } -- 2.39.5