Add height + gearing constants

StuyPulse · Dec 20, 2023 · 29589f8 · 29589f8
1 parent 9608324
commit 29589f8
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Showing 5 changed files with 11 additions and 14 deletions.
diff --git a/src/main/java/com/stuypulse/robot/commands/ElevatorDrive.java b/src/main/java/com/stuypulse/robot/commands/ElevatorDrive.java
@@ -8,6 +8,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
+import static com.stuypulse.robot.constants.Settings.Elevator.*;
+
 public class ElevatorDrive extends CommandBase {
     private final Elevator elevator;
     private IStream velocity;
@@ -22,8 +24,8 @@ public ElevatorDrive(Gamepad gamepad) {
 
     @Override
     public void execute() {
-        elevator.setTargetHeight(velocity.get());
-        SmartDashboard.putNumber("Gamepad velocity", velocity.getAsDouble());
+        elevator.setTargetHeight(velocity.get() * MAX_HEIGHT);
+        SmartDashboard.putNumber("Gamepad Velocity", velocity.getAsDouble());
     }
 
     @Override

diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -16,12 +16,12 @@
 public interface Settings {
     public interface Elevator {
         double DT = 0.3; // time between each simulation update
-        double GEARING = 1;
-        double CARRIAGE_MASS = 15; // kg
+        double GEARING = 9; // ~9:1
+        double CARRIAGE_MASS = 10; // kg
         double DRUM_RADIUS = 0.025; // meters 
 
         double MIN_HEIGHT = 0;
-        double MAX_HEIGHT = 1.1;
+        double MAX_HEIGHT = 1.8475325; // meters 
 
         double MAX_HEIGHT_ERROR = 0.03;
 

diff --git a/src/main/java/com/stuypulse/robot/subsystems/Elevator.java b/src/main/java/com/stuypulse/robot/subsystems/Elevator.java
@@ -12,6 +12,7 @@
 import com.stuypulse.stuylib.streams.filters.MotionProfile;
 
 import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public abstract class Elevator extends SubsystemBase {

diff --git a/src/main/java/com/stuypulse/robot/subsystems/SimElevator.java b/src/main/java/com/stuypulse/robot/subsystems/SimElevator.java
@@ -3,6 +3,7 @@
 import static com.stuypulse.robot.constants.Settings.Elevator.*;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class SimElevator extends Elevator {
     private ElevatorSim sim;
@@ -32,5 +33,7 @@ public void simulationPeriodic() {
 
         height = sim.getPositionMeters();
         velocity = sim.getVelocityMetersPerSecond();
+
+        SmartDashboard.putNumber("Height", getHeight());
     }
 }
diff --git a/src/main/java/com/stuypulse/robot/util/ElevatorVisualizer.java b/src/main/java/com/stuypulse/robot/util/ElevatorVisualizer.java
@@ -135,14 +135,5 @@ public void setHeight(double newHeight) {
         secondLeftBottomRoot.setPosition(leftRootX + 2 * STAGE_SPACING, secondStageBottomY);
         secondRightBottomRoot.setPosition(rightRootX - 2 * STAGE_SPACING, secondStageBottomY);
         secondTopRoot.setPosition(leftRootX + 2 * STAGE_SPACING, INNER_STAGE_HEIGHT + secondStageBottomY);
-
-        /*
-        THE FACTS:
-        - carriage moves at the same speed RELATIVE to teh inner stage
-        - carriage moves at twice the speed of the inner stage releative to teh observer
-         (use twice the speed for observer since we have them as separate from each other)
-
-        - carriage not connected to inner stage
-        - carria*/
     }
 }