add ff values for wrist

team4099 · Jan 24, 2024 · 52fe581 · 52fe581
1 parent b165996
commit 52fe581
Show file tree

Hide file tree

Showing 3 changed files with 11 additions and 11 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt b/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 = "Crescendo-2024"
+const val MAVEN_NAME = "cresendo"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 86
-const val GIT_SHA = "c4213047cf865f51a94aec532ae4b5e5ab6465da"
-const val GIT_DATE = "2024-01-21T04:31:29Z"
+const val GIT_REVISION = 88
+const val GIT_SHA = "b165996f5456e4e0ce9ce385825d05becb33dc7b"
+const val GIT_DATE = "2024-01-21T04:36:39Z"
 const val GIT_BRANCH = "shooter"
-const val BUILD_DATE = "2024-01-21T04:32:08Z"
-const val BUILD_UNIX_TIME = 1705829528858L
+const val BUILD_DATE = "2024-01-23T18:41:22Z"
+const val BUILD_UNIX_TIME = 1706053282048L
 const val DIRTY = 1
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/WristConstants.kt
@@ -24,7 +24,7 @@ object WristConstants {
 
   val VOLTAGE_COMPENSATION = 12.0.volts
   val ABSOLUTE_ENCODER_OFFSET = 0.degrees
-  val WRIST_LENGHT = 18.6.inches
+  val WRIST_LENGTH = 18.6.inches
   val WRIST_INERTIA = 0.7181257183.kilo.grams * 1.0.meters.squared
 
   val WRIST_ENCODER_GEAR_RATIO = 0.0
@@ -47,9 +47,9 @@ object WristConstants {
     val SIM_KI: IntegralGain<Radian, Volt> = 0.0.volts / (1.0.degrees * 1.0.seconds)
     val SIM_KD: DerivativeGain<Radian, Volt> = 0.0.volts / (1.0.rotations / 1.0.seconds)
 
-    val WRIST_KG = 0.0.volts
-    val WRIST_KV = 0.volts / 1.0.degrees.perSecond
-    val WRIST_KA = 0.1.volts / 1.0.degrees.perSecond.perSecond
+    val WRIST_KG = 0.65.volts
+    val WRIST_KV = 1.61.volts / 1.0.degrees.perSecond
+    val WRIST_KA = 0.03.volts / 1.0.degrees.perSecond.perSecond
     val WRIST_KS = 0.0.volts
   }
 

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOSim.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOSim.kt
@@ -34,7 +34,7 @@ object WristIOSim : WristIO {
       DCMotor.getNEO(1),
       WristConstants.WRIST_GEAR_RATIO,
       WristConstants.WRIST_INERTIA.inKilogramsMeterSquared,
-      WristConstants.WRIST_LENGHT.inMeters,
+      WristConstants.WRIST_LENGTH.inMeters,
       WristConstants.WRIST_MIN_ROTATION.inRadians,
       WristConstants.WRIST_MAX_ROTATION.inRadians,
       true,