pid variable adjustments

src/main/kotlin/com/team4099/robot2023/BuildConstants.kt

@@ -4,12 +4,12 @@ package com.team4099.robot2023
  * Automatically generated file containing build version information.
  */
 const val MAVEN_GROUP = ""
-const val MAVEN_NAME = "cresendo"
+const val MAVEN_NAME = "Crescendo-2024v2"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 101
-const val GIT_SHA = "a599b3e0917de8004033315a58f3dad671b072e5"
-const val GIT_DATE = "2024-01-28T18:05:00Z"
+const val GIT_REVISION = 102
+const val GIT_SHA = "604a3c944cf21d691d7f2d854357417009e237cd"
+const val GIT_DATE = "2024-01-28T19:00:59Z"
 const val GIT_BRANCH = "shooter"
-const val BUILD_DATE = "2024-01-28T18:58:53Z"
-const val BUILD_UNIX_TIME = 1706486333778L
+const val BUILD_DATE = "2024-01-28T19:34:57Z"
+const val BUILD_UNIX_TIME = 1706488497518L
 const val DIRTY = 1

src/main/kotlin/com/team4099/robot2023/config/constants/FlywheelConstants.kt

@@ -39,21 +39,21 @@ object FlywheelConstants {
   val FLYWHEEL_TOLERANCE = 50.0.rotations.perMinute
   object PID {
     val RIGHT_REAL_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.001.volts / 1.0.rotations.perMinute
+      0.0.volts / 1.0.rotations.perMinute
     val RIGHT_REAL_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute * 1.0.seconds)
     val RIGHT_REAL_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val RIGHT_SIM_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.1.volts / 1.0.rotations.perMinute
+      0.0.volts / 1.0.rotations.perMinute
     val RIGHT_SIM_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.radians.perSecond * 1.0.seconds)
     val RIGHT_SIM_KD: DerivativeGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute.perSecond)
 
     val LEFT_REAL_KP: ProportionalGain<Velocity<Radian>, Volt> =
-      0.001.volts / 1.0.rotations.perMinute
+      0.1.volts / 1.0.rotations.perMinute
     val LEFT_REAL_KI: IntegralGain<Velocity<Radian>, Volt> =
       0.0.volts / (1.0.rotations.perMinute * 1.0.seconds)
     val LEFT_REAL_KD: DerivativeGain<Velocity<Radian>, Volt> =

src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/Flywheel.kt

@@ -267,7 +267,7 @@ class Flywheel(val io: FlywheelIO) : SubsystemBase() {
   }
 
   fun flywheelOpenLoopCommand(): Command {
-    return runOnce({ currentRequest = Request.FlywheelRequest.OpenLoop(10.volts) })
+    return runOnce({ currentRequest = Request.FlywheelRequest.OpenLoop(12.volts) })
   }
 
   fun flywheelResetCommand(): Command {

src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIO.kt

@@ -21,6 +21,7 @@ import org.team4099.lib.units.derived.radians
 import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.inRadiansPerSecond
+import org.team4099.lib.units.inRotationsPerMinute
 import org.team4099.lib.units.perMinute
 import org.team4099.lib.units.perSecond
 
@@ -45,15 +46,15 @@ interface FlywheelIO {
     var isSimulated = false
 
     override fun toLog(table: LogTable) {
-      table.put("flywheelRightVelocityRPM", rightFlywheelVelocity.inRadiansPerSecond)
+      table.put("flywheelRightVelocityRPM", rightFlywheelVelocity.inRotationsPerMinute)
       table.put("flywheelRightAppliedVoltage", rightFlywheelAppliedVoltage.inVolts)
       table.put("flywheelRightStatorCurrent", rightFlywheelStatorCurrent.inAmperes)
       table.put("flywheelRightSupplyCurrent", rightFlywheelSupplyCurrent.inAmperes)
       table.put("flywheelRightTemperature", rightFlywheelTemperature.inCelsius)
       table.put("rightFlywheelDutyCycle", rightFlywheelDutyCycle.inVolts)
       table.put("rightFlywheelTorque", rightFlywheelTorque.inNewtons)
 
-      table.put("flywheelLeftVelocityRPM", leftFlywheelVelocity.inRadiansPerSecond)
+      table.put("flywheelLeftVelocityRPM", leftFlywheelVelocity.inRotationsPerMinute)
       table.put("flywheelLeftAppliedVoltage", leftFlywheelAppliedVoltage.inVolts)
       table.put("flywheelLeftStatorCurrent", leftFlywheelStatorCurrent.inAmperes)
       table.put("flywheelLeftSupplyCurrent", leftFlywheelSupplyCurrent.inAmperes)
@@ -64,8 +65,8 @@ interface FlywheelIO {
 
     override fun fromLog(table: LogTable) {
       // Flywheel logs
-      table.get("rightFlywheelVelocityRPM", rightFlywheelVelocity.inRadiansPerSecond).let {
-        rightFlywheelVelocity = it.radians.perSecond
+      table.get("rightFlywheelVelocityRPM", rightFlywheelVelocity.inRotationsPerMinute).let {
+        rightFlywheelVelocity = it.rotations.perMinute
       }
       table.get("rightFlywheelAppliedVoltage", rightFlywheelAppliedVoltage.inVolts).let {
         rightFlywheelAppliedVoltage = it.volts
@@ -87,8 +88,8 @@ interface FlywheelIO {
       }
 
       // Left motor
-      table.get("leftFlywheelVelocityRPM", leftFlywheelVelocity.inRadiansPerSecond).let {
-        leftFlywheelVelocity = it.radians.perSecond
+      table.get("leftFlywheelVelocityRPM", leftFlywheelVelocity.inRotationsPerMinute).let {
+        leftFlywheelVelocity = it.rotations.perMinute
       }
       table.get("leftFlywheelAppliedVoltage", leftFlywheelAppliedVoltage.inVolts).let {
         leftFlywheelAppliedVoltage = it.volts

src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOSim.kt

@@ -20,14 +20,14 @@ import org.team4099.lib.units.perMinute
 object FlywheelIOSim : FlywheelIO {
   private val flywheelRightSim: FlywheelSim =
     FlywheelSim(
-      DCMotor.getKrakenX60Foc(1),
+      DCMotor.getFalcon500(2),
       FlywheelConstants.LEFT_GEAR_RATIO,
       FlywheelConstants.INERTIA.inKilogramsMeterSquared
     )
 
   private val flywheelLeftSim: FlywheelSim =
     FlywheelSim(
-      DCMotor.getKrakenX60Foc(1),
+      DCMotor.getFalcon500(2),
       FlywheelConstants.RIGHT_GEAR_RATIO,
       FlywheelConstants.INERTIA.inKilogramsMeterSquared
     )
@@ -53,14 +53,12 @@ object FlywheelIOSim : FlywheelIO {
     flywheelLeftSim.update(Constants.Universal.LOOP_PERIOD_TIME.inSeconds)
     flywheelRightSim.update(Constants.Universal.LOOP_PERIOD_TIME.inSeconds)
 
-    inputs.leftFlywheelVelocity = flywheelLeftSim.getAngularVelocityRPM().rotations.perMinute
     inputs.leftFlywheelVelocity = flywheelLeftSim.getAngularVelocityRPM().rotations.perMinute
     inputs.leftFlywheelAppliedVoltage = appliedLeftVoltage
     inputs.leftFlywheelSupplyCurrent = 0.amps
     inputs.leftFlywheelStatorCurrent = flywheelLeftSim.currentDrawAmps.amps
     inputs.leftFlywheelTemperature = 0.0.celsius
 
-    inputs.rightFlywheelVelocity = flywheelRightSim.getAngularVelocityRPM().rotations.perMinute
     inputs.rightFlywheelVelocity = flywheelRightSim.getAngularVelocityRPM().rotations.perMinute
     inputs.rightFlywheelAppliedVoltage = appliedRightVoltage
     inputs.rightFlywheelSupplyCurrent = 0.amps