finish flywheel constants

team4099 · Jan 21, 2024 · b165996 · b165996
1 parent c3aa23c
commit b165996
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Showing 2 changed files with 12 additions and 13 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/FlywheelConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/FlywheelConstants.kt
@@ -25,18 +25,17 @@ object FlywheelConstants {
 
   val VOLTAGE_COMPENSATION = 12.volts
 
-  val LEFT_INERTIA = 0.0.kilo.grams * 1.0.meters.squared
-  val RIGHT_INERTIA = 0.0.kilo.grams * 1.0.meters.squared
-
-  val RIGHT_FLYWHEEL_SUPPLY_CURRENT_LIMIT = 0.0.amps
-  val RIGHT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT = 0.0.amps
-  val RIGHT_flywheel_TRIGGER_THRESHOLD_TIME = 0.0.seconds
-  val RIGHT_FLYWHEEL_STATOR_CURRENT_LIMIT = 0.0.amps
-
-  val LEFT_FLYWHEEL_SUPPLY_CURRENT_LIMIT = 0.0.amps
-  val LEFT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT = 0.0.amps
-  val LEFT_flywheel_TRIGGER_THRESHOLD_TIME = 0.0.seconds
-  val LEFT_FLYWHEEL_STATOR_CURRENT_LIMIT = 0.0.amps
+  val INERTIA = 0.0014550597.kilo.grams * 1.0.meters.squared
+
+  val RIGHT_FLYWHEEL_SUPPLY_CURRENT_LIMIT = 50.0.amps
+  val RIGHT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT = 1.0.amps
+  val RIGHT_flywheel_TRIGGER_THRESHOLD_TIME = 10.0.seconds
+  val RIGHT_FLYWHEEL_STATOR_CURRENT_LIMIT = 50.0.amps
+
+  val LEFT_FLYWHEEL_SUPPLY_CURRENT_LIMIT = 50.0.amps
+  val LEFT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT = 1.0.amps
+  val LEFT_flywheel_TRIGGER_THRESHOLD_TIME = 10.0.seconds
+  val LEFT_FLYWHEEL_STATOR_CURRENT_LIMIT = 50.0.amps
 
   object PID {
     val REAL_KP: ProportionalGain<Velocity<Radian>, Volt> = 0.001.volts / 1.0.rotations.perMinute

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOSim.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/flywheel/FlywheelIOSim.kt
@@ -22,7 +22,7 @@ object FlywheelIOSim : FlywheelIO {
     FlywheelSim(
       DCMotor.getNEO(1),
       FlywheelConstants.LEFT_GEAR_RATIO,
-      FlywheelConstants.LEFT_INERTIA.inKilogramsMeterSquared
+      FlywheelConstants.INERTIA.inKilogramsMeterSquared
     )
 
   private var appliedVoltage = 0.volts