From 102eb53865f5026cacb91772e1fbb38f09a5a211 Mon Sep 17 00:00:00 2001 From: Harry Chen Date: Sat, 27 Jan 2024 09:44:11 -0500 Subject: [PATCH] Fix elevator gear ratio --- src/main/java/frc/robot/Constants.java | 2 +- .../robot/subsystems/SwerveDriveSubsystem.java | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 7729eed..0f64ff0 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -72,7 +72,7 @@ public static class Physical { public static final double SHOOTER_FLYWHEEL_CIRCUMFERENCE = 2 * Math.PI * SHOOTER_FLYWHEEL_RADIUS; - public static final double ELEVATOR_GEAR_RATIO = 27; + public static final double ELEVATOR_GEAR_RATIO = 27; //TODO: THEY CHANGED THE GEARBOX SO THE GEAR RATIO IS DIFFERENT!! public static final double SHOOTER_HEIGHT_STOWED = 0; // TODO: Get this value diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java index 1c3dcd5..450d4ba 100644 --- a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java @@ -205,15 +205,15 @@ public void initSendable(SendableBuilder builder) { "Swerve Speed", () -> Constants.Speeds.SWERVE_DRIVE_COEFF, null); } }); - SmartDashboard.putData( - "Gyro", - new Sendable() { - @Override - public void initSendable(SendableBuilder builder) { - builder.setSmartDashboardType("Gyro"); - builder.addDoubleProperty("Pose", () -> getHeading().getDegrees(), null); - } - }); + // SmartDashboard.putData( + // "Gyro", + // new Sendable() { + // @Override + // public void initSendable(SendableBuilder builder) { + // builder.setSmartDashboardType("Gyro"); + // builder.addDoubleProperty("Pose", () -> getHeading().getDegrees(), null); + // } + // }); SmartDashboard.putData("Swerve/Built-in Accelerometer", new BuiltInAccelerometer()); }