Added conversion rates for encoders. :3

Co-authored-by: Lapcas <Lapcas@users.noreply.github.com>
Co-authored-by: jopy-man <jopy-man@users.noreply.github.com>
Co-authored-by: Zixi52 <Zixi52@users.noreply.github.com>
Co-authored-by: naveed1117 <naveed1117@users.noreply.github.com>

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -38,7 +38,6 @@ public class RobotContainer {
     private final ConveyerTest conveyer = new ConveyerTest();
     private final IntakeTest intake = new IntakeTest();
 
-
     // Autons
     private static SendableChooser<Command> autonChooser = new SendableChooser<>();
 

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -7,11 +7,48 @@
 
 import com.stuypulse.stuylib.network.SmartBoolean;
 import com.stuypulse.stuylib.network.SmartNumber;
+import edu.wpi.first.math.util.Units;
 
 /*-
  * File containing tunable settings for every subsystem on the robot.
  *
  * We use StuyLib's SmartNumber / SmartBoolean in order to have tunable
  * values that we can edit on Shuffleboard.
  */
-public interface Settings {}
+public interface Settings {
+
+    public interface AmperTest {
+
+        double AMP_ROLLER_DIAMETER = Units.inchesToMeters(1.25);
+        public interface Lift{
+            public interface Encoder {
+            double GEARING = 9;
+            double DRUM_RADIUS = Units.inchesToMeters(1);
+            double DRUM_CIRCUMFERENCE = DRUM_RADIUS * Math.PI * 2;
+
+            double POSITION_CONVERSION = GEARING * DRUM_CIRCUMFERENCE;
+            double VELOCITY_CONVERSION = POSITION_CONVERSION / 60.0;
+            }
+        }
+        public interface Score {
+            SmartNumber SCORE_SPEED = new SmartNumber("Amper/Score/Score Speed", 1.0);
+            SmartNumber INTAKE_SPEED = new SmartNumber("Amper/Score/Intake Speed", 1.0);
+
+            double SCORE_MOTOR_CONVERSION = AMP_ROLLER_DIAMETER * Math.PI;
+        }
+
+    }
+
+    public interface ClimberTest {
+
+        public interface Encoder {
+            double GEAR_RATIO = 12.0;
+
+            double POSITION_CONVERSION = 1.0;
+            double VELOCITY_CONVERSION = POSITION_CONVERSION / 60.0;
+        }
+    }
+
+
+
+}

src/main/java/com/stuypulse/robot/subsystems/AmperTest.java

@@ -4,6 +4,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.robot.constants.Settings;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -13,11 +14,20 @@ public class AmperTest extends SubsystemBase {
     private final CANSparkMax scoreMotor;
     private final CANSparkMax liftMotor;
     private final RelativeEncoder liftEncoder;
+    private final RelativeEncoder scoreEncoder;
+
+
 
     public AmperTest(){
         scoreMotor = new CANSparkMax(Ports.Amper.SCORE, MotorType.kBrushless);
         liftMotor = new CANSparkMax(Ports.Amper.LIFT, MotorType.kBrushless);
         liftEncoder = liftMotor.getEncoder();
+        scoreEncoder = scoreMotor.getEncoder();
+
+        scoreEncoder.setPositionConversionFactor(Settings.AmperTest.Score.SCORE_MOTOR_CONVERSION);
+
+        liftEncoder.setPositionConversionFactor(Settings.AmperTest.Lift.Encoder.POSITION_CONVERSION);
+        liftEncoder.setVelocityConversionFactor(Settings.AmperTest.Lift.Encoder.VELOCITY_CONVERSION);
     }
 
     public void setAmperVoltage(double voltage){
@@ -32,7 +42,14 @@ public void stop(){
         scoreMotor.set(0);
         liftMotor.set(0);
     }
-    public double getLiftEncoder() {
+
+    public double getScorePosition() {
+        return scoreEncoder.getPosition();
+    }
+    public double getLiftPosition() {
+        return liftEncoder.getPosition();
+    }
+    public double getLiftVelocity() {
         return liftEncoder.getVelocity();
     }
     @Override
@@ -41,5 +58,7 @@ public void periodic() {
         SmartDashboard.putNumber("Amper/Lift Speed", liftMotor.get());
         SmartDashboard.putNumber("Amper/Intake Current", scoreMotor.getOutputCurrent());
         SmartDashboard.putNumber("Amper/Lift Current", liftMotor.getOutputCurrent());
+        SmartDashboard.putNumber("Amper/Lift Position", liftEncoder.getPosition());
+        SmartDashboard.putNumber("Amper/Score Position", scoreEncoder.getPosition());
     }
 }

src/main/java/com/stuypulse/robot/subsystems/ClimberTest.java

@@ -4,6 +4,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.robot.constants.Settings;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,6 +21,13 @@ public ClimberTest(){
 
         rightEncoder = rightMotor.getEncoder();
         leftEncoder = leftMotor.getEncoder();
+
+        rightEncoder.setPositionConversionFactor(Settings.ClimberTest.Encoder.POSITION_CONVERSION);
+        leftEncoder.setPositionConversionFactor(Settings.ClimberTest.Encoder.POSITION_CONVERSION);
+
+        rightEncoder.setVelocityConversionFactor(Settings.ClimberTest.Encoder.VELOCITY_CONVERSION);
+        leftEncoder.setVelocityConversionFactor(Settings.ClimberTest.Encoder.VELOCITY_CONVERSION);
+
     }
     public void setLeftVoltage(double voltage){
         leftMotor.set(voltage);
@@ -33,20 +41,29 @@ public void stop() {
         rightMotor.set(0);
     }
 
-    public double getLeftEncoder(){
+    public double getLeftVelocity() {
         return leftEncoder.getVelocity();
     }
+    public double getLeftPosition() {
+        return leftEncoder.getPosition();
+    }
 
-    public double getRightEncoder(){
+    public double getRightVelocity() {
         return rightEncoder.getVelocity();   
     }
+
+    public double getRightPosition() {
+        return rightEncoder.getPosition();
+    }
 
     @Override
     public void periodic() {
         SmartDashboard.putNumber("Climber/Left Voltage", leftMotor.getAppliedOutput() * leftMotor.getBusVoltage());
         SmartDashboard.putNumber("Climber/Right Voltage", rightMotor.getAppliedOutput() * rightMotor.getBusVoltage());
-        SmartDashboard.putNumber("Climber/Height", getRightEncoder());
-        SmartDashboard.putNumber("Climber/Velocity", getLeftEncoder());
+        SmartDashboard.putNumber("Climber/Right Height", getRightPosition());
+        SmartDashboard.putNumber("Climber/Right Velocity", getRightVelocity());
+        SmartDashboard.putNumber("Climber/Left Position", getLeftPosition());
+        SmartDashboard.putNumber("Climber/Left Velocity", getLeftVelocity());
     }
 }