refactor: make pivot encoder offset a constant

flamingchickens1540 · May 13, 2024 · 8739d33 · 8739d33
1 parent 4973d8c
commit 8739d33
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -157,10 +157,10 @@ public static class Pivot {
             public static final int MOTOR_ID = 9;
             public static final int CANCODER_ID = 10;
 
-
             // TODO: determine ratios
             public static final double CANCODER_TO_PIVOT = 28.0 / 15.0;
             public static final double MOTOR_TO_CANCODER = 56.0;
+            public static final Rotation2d ENCODER_OFFSET = Rotation2d.fromRadians(0.01215595);
 
             public static final double CHAIN_FACTOR = 1.04;
             public static final double TOTAL_GEAR_RATIO = MOTOR_TO_CANCODER * CANCODER_TO_PIVOT;
@@ -192,7 +192,6 @@ public static class Pivot {
             public static final double MAX_ACCEL_RPS2 = 2;
             public static final double JERK_RPS3 = 2000;
 
-
             public static final ShooterSetpoint HUB_SHOOT = new ShooterSetpoint(Rotation2d.fromRadians(1.06184));
             public static final ShooterSetpoint PODIUM_SHOOT = new ShooterSetpoint(0.07, 6000,5000);
 

diff --git a/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java
@@ -89,7 +89,7 @@ public ShooterPivotIOTalonFX() {
         motor.optimizeBusUtilization();
         cancoder.optimizeBusUtilization();
         motor.setPosition(
-                Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(Rotation2d.fromRadians(0.03856 - 0.02649405)).getRotations()
+                Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(ENCODER_OFFSET).getRotations()
         );
     }
 
@@ -99,12 +99,11 @@ public void updateInputs(ShooterPivotIOInputs inputs) {
         inputs.isAtForwardLimit = forwardLimit.getValue() == ForwardLimitValue.ClosedToGround;
         inputs.isAtReverseLimit = reverseLimit.getValue() == ReverseLimitValue.ClosedToGround;
         inputs.position = Rotation2d.fromRotations(position.getValueAsDouble());
-        inputs.absolutePosition = Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(Rotation2d.fromRadians(0.03865 - 0.02649405));
+        inputs.absolutePosition = Rotation2d.fromRotations(absolutePosition.getValueAsDouble() / CANCODER_TO_PIVOT * CHAIN_FACTOR).plus(ENCODER_OFFSET);
         inputs.velocityRPS = velocity.getValueAsDouble();
         inputs.appliedVolts = appliedVoltage.getValueAsDouble();
         inputs.currentAmps = current.getValueAsDouble();
         inputs.tempCelsius = temp.getValueAsDouble();
-
     }
 
     @Override